followTrajectory
Description
Examples
Command the Cobot to Desired Trajectory
Connect to a physical or simulated cobot, using either urROSNode
or
urROS2Node
object (based on the option for connectivity – ROS or ROS 2, which you selected in the
Hardware Setup screen).
Connect to a physical or simulated cobot at IP address
192.168.2.112
on the ROS network.ur = urROSNode('192.168.2.112');
Connect to a physical or simulated cobot on the ROS 2 network.
ur = urROS2Node;
Command the cobot to by providing the desired joint waypoints and by specifying the position, velocity, and acceleration for each waypoint segment, and the time samples for the trajectory.
jointwayPoints = [-20 -85 110 150 -70 0; -10 -70 80 200 -70 0; 0 -40 90 270 -70 0; -10 -70 80 200 -70 0; -20 -85 110 150 -70 0;]*pi/180; wayPointTimes = [0 2 4 6 8]; trajTimes = linspace(0,wayPointTimes(end),20); [q,qd,qdd] = bsplinepolytraj(jointwayPoints',[0 wayPointTimes(end)],trajTimes); followTrajectory(ur,q,qd,qdd,trajTimes);
Input Arguments
ur
— Connection to Universal Robots cobot
object
Connection to physical or simulated cobot from Universal Robots, specified as a
urROSNode
object or a urROS2Node
object.
q
— Position of joint in the trajectory
position matrix
Desired position of joints in the trajectory at a given time sample, represented as a 6-by-N matrix, where N is the dimension of the trajectory.
Data Types: array
qd
— Velocity of joint in the trajectory
vector
Desired velocity of joints in the trajectory at a given time sample, represented as a 6-by-N numeric vector, where N is the dimension of the trajectory.
Data Types: array
qdd
— Velocity of joint in the trajectory
vector
Desired acceleration of joints in the trajectory at a given time sample, represented as a 6-by-N numeric vector, where N is the dimension of the trajectory.
Data Types: array
trajtimes
— Time sample of the trajectory
vector
Time sample of the trajectory at each joint, specified as a 1-by-N numeric vector, specified in seconds.
Data Types: array
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2022a
See Also
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