Trajectory: Cartesian (absolute)

Note

The Streaming Mode ID for this mode is 3.

Streaming Message Format
../../../_images/streaming_message_cartesian.drawio.svg

In the absolute cartesian streaming mode, the target position is streamed as an absolute pose with respect to the base coordinate system of the robot.

A Kalman filter is used to upsample the input streaming poses to the controller frequency and obtain an 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.