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Trajectory: Joint position + velocity

note

The streaming mode ID for this mode is 2.

Streaming message format

Streaming message format for the joint position and velocity mode

In PosVel mode, the Robot is controlled by commanding the desired position as well as velocity per joint. In order to use this mode, a trajectory generation algorithm is required that generates a feasible trajectory satisfying each joint's dynamic limits. Please see below for suggested limits in streaming mode:

Joint limits
Joint Position: ±270 deg
Joint Velocity:
    Drive 193: ±1.25 [rad / s]
    Drive 148: ±2.00 [rad / s]
    Drive 116: ±4.00 [rad / s]
    Drive  86: ±5.00 [rad / s]
Joint Acceleration: ± 4.0 [rad / s2]
Joint Jerk: ± 100.0 [rad / s3]

The controller will receive the streaming messages and pre-process them using a Kalman filter, in order to obtain smooth and accurate estimates of the second derivative.