Trajectory: Cartesian (relative)

note

The streaming mode ID for this mode is 4.

Streaming message format

In the relative Cartesian streaming mode, the target position is streamed as a pose offset from the tool in the coordinate frame of the Robot's tool.

A Kalman filter is used to upsample the input streaming poses to the controller frequency and obtain a smooth and accurate velocity estimate.

For safety reasons, the Robot will stop streaming if the error between the streamed position and the current position exceeds 5 cm or 10 degrees. These values can be configured by a RobCo engineer. In case you require an adaption, please reach out to the technical support.