How to control the speed of joint trajectory execution from current pose to the first point

asked 2019-07-14 08:25:01 -0500

Victor Wu gravatar image

I want to control the speed of the UR3 in joint trajectory action from the current pose to the first point of the trajectory. Also I need to know when it reaches the first point then I can switch on a laser pointer.

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The arm moves extremely fast to the first point of the trajectory from its current pose. Then it follow the trajectory slowly. So how can control the first speed to an acceptable stable speed. Your help would be very much appreciate.

Victor Wu gravatar imageVictor Wu ( 2019-07-17 05:29:52 -0500 )edit