Small movements with servoj


We are making a script that moves a UR5 in one axis with very small movements (sometimes less than a millimeter) as fast as possible. We have experimented using different methods of movement, and have settled on servoj as a good candidate.

We wonder what some good parameters are for this function. P is proportional gain which I understand knowing control theory. Is it correct to assume that lookahead_time is the integral and t is the derivative?

I’m trying to get a deeper understand of this function but it is hard just reading the script manual. Maybe some people have tried using servoj for small movements and have some recommendation on what we can try.

Best regards,
Robotics Engineer