Trajectory Point Interface
The TrajectoryPointInterface
allows sending trajectory points to the robot. It is intended to
be used in conjunction with the ReverseInterface during trajectory forwarding.
Communication regarding trajectory point execution would usually look like this:
Basically, the TrajectoryPointInterface
transfers the trajectory points from the external
control PC to the robot for execution. Execution isn’t started, before a start command is sent via
the ReverseInterface
. Once trajectory execution is done (either successful, failed or canceled
externally), the robot will send a response back to the control PC via the trajectory socket.
Note
The TrajectoryPointInterface
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.
Communication protocol
The TrajectoryPointInterface
’s “trajectory_socket” on the robot is expecting 32 bit integer
representations in 21 datafields. The data fields have the following meaning:
index |
meaning |
---|---|
0-5 |
trajectory point positions (floating point) |
6-11 |
trajectory point velocities (floating point) |
12-17 |
trajectory point accelerations (floating point) |
18 |
trajectory point type (0: JOINT, 1: CARTESIAN, 2: JOINT_SPLINE) |
19 |
trajectory point time (in seconds, floating point) |
20 |
depending on trajectory point type
|