followTrajectory

Command robot to move along the desired joint space waypoints

Since R2022a

Syntax

``followTrajectory(ur,q,qd,qdd,trajtimes)``

Description

example

````followTrajectory(ur,q,qd,qdd,trajtimes)` commands the Universal Robots cobot connected through ROS interface to follow the desired set of joints for the trajectory, based on position, velocity, acceleration, and time samples.```

Examples

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Connect to a physical or simulated cobot, using either `urROSNode` or `urROS2Node` object (based on the option for connectivity – ROS or ROS 2, which you selected in the Hardware Setup screen).

• Connect to a physical or simulated cobot at IP address `192.168.2.112` on the ROS network.

`ur = urROSNode('192.168.2.112');`
• Connect to a physical or simulated cobot on the ROS 2 network.

`ur = urROS2Node;`

Command the cobot to by providing the desired joint waypoints and by specifying the position, velocity, and acceleration for each waypoint segment, and the time samples for the trajectory.

```jointwayPoints = [-20 -85 110 150 -70 0; -10 -70 80 200 -70 0; 0 -40 90 270 -70 0; -10 -70 80 200 -70 0; -20 -85 110 150 -70 0;]*pi/180; wayPointTimes = [0 2 4 6 8]; trajTimes = linspace(0,wayPointTimes(end),20); [q,qd,qdd] = bsplinepolytraj(jointwayPoints',[0 wayPointTimes(end)],trajTimes); followTrajectory(ur,q,qd,qdd,trajTimes);```

Input Arguments

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Connection to physical or simulated cobot from Universal Robots, specified as a `urROSNode` object or a `urROS2Node` object.

Desired position of joints in the trajectory at a given time sample, represented as a 6-by-N matrix, where N is the dimension of the trajectory.

Data Types: `array`

Desired velocity of joints in the trajectory at a given time sample, represented as a 6-by-N numeric vector, where N is the dimension of the trajectory.

Data Types: `array`

Desired acceleration of joints in the trajectory at a given time sample, represented as a 6-by-N numeric vector, where N is the dimension of the trajectory.

Data Types: `array`

Time sample of the trajectory at each joint, specified as a 1-by-N numeric vector, specified in seconds.

Data Types: `array`

Version History

Introduced in R2022a