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.

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.