Trajectory: Cartesian (relative)

Note

The Streaming Mode ID for this mode is 4.

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

In the relative cartesian streaming mode, the target position is streamed as a pose offset from the tool in the coordinate frame of the robots tool.

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.