Is get_actual_tcp_speed() in the base frame?

Technical Questions URScript
1

Hi,

Definition of get_actual_tcp_speed() in the script manual:

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returns the current measured tool speed. The speed is in the base frame or tool frame (TCP frame)?
Some functions in the script manual indicate their coordinate system, while others do not. For those without explicit specification, is there a default coordinate system?

e.g. get_actual_tcp_pose() and get_actual_tool_flange_pose(), the description will indicated in the base frame.

notes: There is an offset between the TCP and the flange.

thanks

2

Hi,

functions without an indication for their frame typically give you the values in base frame.
While the pose of TCP and Flange differ, their speeds should be the same.