readEndEffectorVelocity

Get current end-effector velocities from the robot

Since R2024a

Syntax

eevelocity = readEndEffectorVelocity(ur)

Description

eevelocity = readEndEffectorVelocity(ur) waits for the next joint state update from the Universal Robots cobot connected via the RTDE interface, and returns the end-effector velocity.

Examples

Obtain End-Effector Velocities from Cobot

Connect to a physical or simulated cobot, using urRTDEClient object.

ur = urRTDEClient('172.19.98.176');

Get the current end-effector velocities of the cobot, representing the current position velocity and orientation velocity of the end-effector.

eevelocity = readEndEffectorVelocity(ur);

eeVelocity = 1×6    
 0     0     0     0     0     0

Input Arguments

ur — Connection to Universal Robots cobot

object

Connection to physical or simulated cobot from Universal Robots, specified as a urRTDEClient object.

Output Arguments

eevelocity — Current end-effector velocities

double vector

Current end effector velocities, returned as a 1-by-6 vector consisting of the three orientation velocity and three position velocity values (represented as [thetaz(dot) thetay(dot) thetax(dot) Vx Vy Vz]) in rad/s and m/s respectively.

Data Types: double

Version History

Introduced in R2024a