There are high-level and low-level controller to control my UR5.
High-level layer is the policy which set the target 6D joint position in 50HZ
Low-level layer may use servoJ to achieve the target joint position in 250HZ.
But the problem is that, I can’t limit the velocity while using servoJ and I don’t know how is this function implemented? In addition, it seems that the param ahead_time must be set to 0.03, which is much longer then my control step time.
So, I find someone suggests that speedJ is a substitute. Can I use speedJ as a Asynchronous control method in 250HZ? And where can I found the demo of PID position control model using speedJ?