Universal Robots Forum

Actual Vs Target

Hi,

I have some questions on RTDE message in UR controller. RTDE interface supports the following parameters.

target_q
target_qd
target_qdd
target_current
target_moment
actual_q
actual_qd
actual_current
actual_TCP_pose
actual_TCP_speed
actual_TCP_force
target_TCP_pose
target_TCP_speed
actual_momentum
actual_main_voltage
actual_robot_voltage
actual_robot_current
actual_joint_voltage

Can someone please explain me the difference between actual and target?

Thanks,
Sankar

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I think the following.

“target” is the calculated coordinates on the ideal trajectory.
“actual” is the coordinates that are actually moving.

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