Hello UR Community,
Currently I am working on a project on which I need to servo a UR3 based on differential kinematics and numerical jacobian. For this, I require to call the RTDEControlInterface.getForwardKinematics() several times to move from a point to another adjacent one. The time elapsed to call RTDEControlInterface.getForwardKinematics() is 0.03 sec and calling it 20 times for one motion will cause a notable delay which is not convenient for ServoJ() implementation. Have anyone faced such a problem? Is there a solution to overcome this?