Instruction Executor

The Instruction Executor is a convenience wrapper to make common robot instructions such as point to point motions easily accessible. Currently, it supports the following instructions:

  • Excecute MoveJ point to point motions

  • Execute MoveL point to point motions

  • Execute sequences consisting of MoveJ and MoveL instructions

The Instruction Executor uses the Trajectory Point Interface and the ReverseInterface for sending motion instructions to the robot. Hence, it requires a UrDriver object.

Note

The InstructionExecutor simply forwards the trajectory points to the robot. Execution is done using respective URScript functions such as movej or movel. Therefore, all parameters and restrictions of these functions apply. For example, velocity and acceleration parameters will be ignored if there is a time > 0 given.

As a minimal working example, please see the Instruction Executor example.