Speedl command generating jerky trajectory

Technical Questions URScript
1

Hi everyone,
As of version 5.6 we are encountering some problems with the speedl command. In past versions one could loop a speedl command, and the robot would move smoothly with the given speed. That does not seem to be the case anymore, as the robot generates a rather jerky trajectory. If the robot is allowed control of the motion for e.g. 0.5 seconds, it will make a short stop for every 0.5 seconds. We have experimented with different parameter sets, but all of them gives the same behavior.

Have anyone encountered this problem as well? Or are we misunderstanding the use of speedl?

The problem can be reproduced by the following script command, in an otherwise empty UR program that just loops:

speedl([0,0,0.1,0,0,0],2,0.1)

Best regards,
Thomas

2

The issue is verified. And will be fixed in next release of Polyscope.

3

That sounds great, thank you.

4

Unfortunately this is also in 3.12 which is now a “required” upgrade for CB3.

5

I also have the same issue right now with software version below picture

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WeChat Image_20230322101201794×627 25.9 KB

my speedl parameters a=1.0, t=0.1, within each control loop, speedl did returns but it seems that robot arm is trying to stop and wait for next j command.

I think this should not happen. Does this issue solved in the next releases?