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sendJointConfiguration

Command robot to move to desired joint configuration

Since R2022a

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Syntax

sendJointConfiguration(ur,jointConfig)
sendJointConfiguration(ur,jointConfig,EndTime=endtime)

Description

sendJointConfiguration(ur,jointConfig) commands the Universal Robots cobot connected through ROS or ROS2 interface, based on the specified joint configuration.

example

sendJointConfiguration(ur,jointConfig,EndTime=endtime) commands the Universal Robots cobot connected through ROS or ROS2 interface, based on the specified joint configuration and a maximum duration. The method commands the robot to complete the motion from current joint configuration to the desired joint configuration within the duration.

example

Examples

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Connect to a physical or simulated cobot, using either urROSNode or urROS2Node object (based on the option for connectivity – ROS or ROS 2, which you selected in the Hardware Setup screen).

  • Connect to a physical or simulated cobot at IP address 192.168.2.112 on the ROS network.

    ur = urROSNode('192.168.2.112');

  • Connect to a physical or simulated cobot on the ROS 2 network.

    ur = urROS2Node;

Command the cobot to by providing the desired joint configuration and 5-seconds duration as inputs.

jointWaypoints = [20 -90 -70 -20 70 0]*pi/180;
sendJointConfiguration(ur,jointWaypoints,EndTime=5);

Input Arguments

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Connection to physical or simulated cobot from Universal Robots, specified as a urROSNode object, urROS2Node object, or urRTDEClient object.

Desired joint configuration of the physical or simulated cobot, represented as a 1-by-6 numeric vector, in the range [-pi,pi].

Data Types: numeric

Maximum duration by which the simulated cobot must try to complete the motion to reach the desired joint configuration, specified in seconds. In some cases, even with this argument specified, there is no guarantee that the cobot will reach the desired joint configuration. In such cases, use sendJointConfigurationAndWait instead.

Data Types: double

Extended Capabilities

Version History

Introduced in R2022a

See Also

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