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Universal Robots - joint speed control

asked 2019-04-22 07:07:21 -0600

wagnerbra gravatar image


I am quite new with ROS and I am still pending to identify something.

Is there already implemented in ROS the control of joint speeds for Universal Robots manipulators?

I have identified the speedJ() function from URScript language (native for UR controllers), which allow joint speed control, but not for ROS.

Any information will be welcome.


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answered 2019-04-22 07:35:32 -0600

gvdhoorn gravatar image

updated 2019-04-22 09:33:31 -0600

At least the ur_modern_driver supports joint velocity control with the ros_control setup in kinetic-devel (the old driver (master branch, deprecated) supported a /joint_speed topic, but that has not been ported to the new version).

Velocity setpoints are directly mapped onto speedj(..) statements on the controller.

See ros-industrial/ur_modern_driver#218 for some discussion on using ros_control's JointGroupVelocityController.

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Last updated: Apr 22 '19