MoveL: Tool Angular Speed

Technical Questions
1

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?

2

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()

3

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.

4

For those who is still interesting to this topic.

MoveL() command in script works the following way:

  1. Linear velocity and linear acceleration are taken from parameters as is in m/s and m/s^2 accordingly.
  2. Angular velocity is derived from linear velocity: AngVel = 4 * LinVel, units are radians/sec. (example: LinVel = 0.1m/s, therefore AngVel = )
  3. Angular acceleration is devived from linear acceleration similar way: AngAcc = 4 * LinAcc, units are radians/sec^2.
  4. Motion profile (velocity vs. time) is calculated separately for linear and angular set of coordinates: Linear distance = sqrt( (x-x0)^2 + (y-y0)^2 + (z-z0)^2 ). Angular distance = sqrt( (Rx-Rx0)^2 + (Ry-Ry0)^2 + (Rz-Rz0)^2 ). Then trapezoidal profile is fitted for travel distance and calculated needed motion time.
  5. Whatever time is the largest - that motion profile will be used for actual motion. The other profile will be slowed down accordingly.