How to execute a time-series reference joint angles by UR-RTDE?

Technical Questions
1

Hello,
i am trying to find the best practice for execute a time-series reference joint angles without stopping at intermediate points.
The “time-series reference joint angles” here means a data structure like JointTrajectory in ros which includes bunch of joint angle+velocity+acceleration list and a “target reach time” for each point in this list.
I know that moveJ API can pass joint angle+velocity+acceleration lists with a blend radius, but there is no argument for “target reach time” in moveJ API. Furthermore i want to make robot pass all the intermediate point so i have to set blend radius to zero, but it will result stopping at every intermediate points, doesn’t it?

Also I know ros control framework can achieve this, i just wondering is there any way to do the same execution without using ros.

Any advice would be appreciated.

2

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MoveJ does have a Time input parameter.

Yes a blend radius of 0 will stop at each point, so you’d have to put a very small blend I think.

3

Thanks for reply.
I noticed that ur-rtde doesn’t use a time parameter.
rtde_control_interface.cpp
Should I use ur-script directly instead of using ur-rtde if i want to pass time argument?

4

I’ll confess I’m not very familiar with the RTDE. If you truly need a time parameter and it doesn’t have it, then sure maybe give the URscript a try.