Hi! I’m trying to excite the dynamics around the base and shoulder joints of my UR10.
This is the algorithm to be utilized for data generation:
qj0 = actual qj
Start data logging, t = 0s
while t < 8s do
dqj = random(-pi/18,pi/18) rad
v = random(0.5,2) rad/s
a = random(0.3,7) rad/s^2
movej(qj0+dqj,v,a)
Wait random(0.1,1.0) s
end while
Stop data logging
How can I translate this algorithm to URScript, please?
Thank you!