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.

In between two streamed trajectory poses, spline interpolation is performed to achieve smooth motion in cartesian space.

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.