MoveL: Tool Angular Speed

What is the tool angular speed of moveL function?

If the robot were to move from waypoints wp_1 to wp_2 where wp_2 is only tilted from wp_1. for example:
wp_1 = p[0.1, 0.1, 0.1, 0.0, 1.0, 0.0]
wp_2 = p[0.1, 0.1, 0.1, 0.0, 2.0, 0.0]

What’s the robot tool speed in rad/s and acceleration in rad/s/s, or at least the time of motion?

The speed is defined in the move command movej, movel, etc.

During the move the speed can be monitored using the get_actual_joint_speeds()

Hi @pho,

in movel command, the speed and acceleration parameters are defined in m/s and m/s/s.
My questions is about the angular speed and acceleration in rad/s and rad/s/s.

If you read my original question, it’s in regard a movel command where the robot head only rotates around the TCP without any translation.