Hi everyone, I am using a servoj command to operate the robot, to move from point A to point B. I am not 100% sure I am using the command correctly, because at the end of the motion, robot doesn’t slow down noticeable and it stops abruptly as can be seen on the video ( UR5e Servoj issue - YouTube ) …

@ajp There’s nothing setting the timing of your s.send command in the python while loop is there? Not sure what are you trying to say here^ Its just hard for me to understand how to use the servoj command. It doesnt work for me to just simply write. s.send(''servoj(target_joint)"). It has to b…

Are you using a 3rd party UR python library in this last example? I’m not familiar with the robot. object. Perhaps this will help to synchronize your communications for you. I’ve just looked back at your original example too though, and I see you’re incrementing the t parameter. That’s not how it s…

@ajp First of all thank you very much for all the help, your replies help me a lot move forward with my project. Robot.command is an object that comes from the following source, which allows for RTDE communication with the robot using python Python 3 library to communicate with robot I understa…

Well if your target joint angles don’t update from the current position your robot shouldn’t move, even if servoj is still running. Alternatively you could stop your loop by sending a halt() command to one of the client interfaces, or even use another boolean register as an enabling bit, set it low…

Great Thank you for your help, I will try it out. I am calculating trajectories using another piece of code I wrote, not moveit

Is that a problem if i use a path with waypoints that have same distance (like 10mm) and change the “t” to get different speed/acceleration in each part of the patch?

That should work as long as the speed/acc variations between each section are reasonably smooth. I’d probably recommend splitting it into smaller say 1mm sections and ramping the values across those instead of sudden change at the end of a 10mm section.

Nice!!! Is that ok stop the servoJ patch with stopj(1) ?

Yes, that’s the correct way to do it.

Hi, I would like to ask question about servoJ. Here in this case RobotNoob used it real-time with time library for python. My question how to servoJ robot if I have pre-recorded poses with time-stamp. I computed inverse kinematics so now I have array of time stamps (in ms) and joint positions at ea…

Servoj URScript (abrupt final motion)

Technical Questions URScript

friend October 20, 2022, 5:30pm 19

Seconded. Would like to know this as well.

ServoJ implementation

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Servoj URScript (abrupt final motion)

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