Trajectory: Joint Position + Velocity

Note

The Streaming Mode ID for this mode is 2.

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

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
1Joint Position: ±270 deg
2Joint Velocity:
3    Drive 193: ±1.25 [rad / s]
4    Drive 148: ±2.00 [rad / s]
5    Drive 116: ±4.00 [rad / s]
6    Drive  86: ±5.00 [rad / s]
7Joint Acceleration: ± 4.0 [rad / s2]
8Joint Jerk: ± 100.0 [rad / s3]

Internally, the robot will command the linear interpolation between the desired position and velocity of the oldest two buffer entries (FIFO) without further interpretation.