Rotation Speed in speedl()

Technical Questions
1

Dear all,

Would like to clarify about the rotational speed in speedl() of URScript:

  1. The rotational speed Rx, Ry, and Rz are expressed in terms of rotation vector or RPY angular velocity?

  2. The rotation is wrt. the robot base frame or tool frame?

I have been using rotation vector wrt. robot base frame when trying to control the orientation of the TCP, but the behaviour is unexpected and can’t be explained. I think my assumptions above could be wrong, hence the clarification.

Thank you!
Jeff

1 Like
3

do you have solved the problem?i also meet the same problem and don’t konw the meaning of rotation speed.

4

Did you get any updates on this? I’d be interested in the same question.