What is the difference between get_actual_joint_positions () and get_target_joint_positions ()

Technical Questions URScript
1

What is the difference between get_actual_joint_positions () and get_target_joint_positions ()

how do i use get_target_joint_positions() ?

2

Hi @p.jinhyeok ,

Actual position means that it is the real joint position based on encoder’s reading.

Target position means that it is the “command position” based on controller’s sending.

Thanks

3

Hi @sya ,

Thanks for the reply

Is it possible to move to the target position using get_target_joint_positions() ?

example please

4

Hi @p.jinhyeok ,

I think what you want is servoj which could move the robot to a setpoint(position) within certain time difference. Check the script manual or search the servoj in the forum and you will know it more.

Thanks

1 Like
5

@sya

Thanks for the reply

I’ll try

Thanks

6

Hi. @sya ,

servoj is different from what i thought

I only know the target point(TCP coordinates, not actual position). I want to get joint positions using this

is it possible?? If it’s not possible please teach me another way

Please help me… :sob:

7

Hi @p.jinhyeok

You could check this thread as a reference.

Servoj need to fill in 6 joint position as a list so you could combine the get_inverse_kin() to convert your TCP position command to joint position command.

Thanks

1 Like
8

Hi @sya

Thanks for the reply

Solved the problem with your comments

Thanks a lot :grin: