How to determine the motion state

Technical Questions URScript
1

Hi community,

I want to determine the TCP’s motion state based on velocity and force.
For example, during the acceleration start phase: the robot’s velocity is low, and the robot’s velocity direction aligns with the force applied by the operator.

Is there an issue with my approach?

tcp_velocity = get_actual_tcp_speed()
flange_force = get_tcp_force()

Additionally, tcp_velocity is measured at TCP with the orientation of the robot base coordinate system ?

My robot: UR5e, There is an offset between the TCP and the flange.

thanks.