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Set TCP speed

Dear all,

we are working with ROS indigo right now using a Universal Robot UR10. I am wondering if there is the possibility to set a limit of the TCP speed. There are lot of applications where one needs to set a defined TCP speed, like 100 mm/s or other values.

Anyway, I just found the two scaling factors which are most like only regarding the joint speed:

  group.setMaxVelocityScalingFactor(0.25);
  group.setMaxAccelerationScalingFactor(0.25);

These scaling factors refer to the URDF files of a robot. In Universal Robot that means for example: velocity="3.2"/ Which unit is that? Is it only representing the joint speed in point to point movement or can I transfer this also to Cartesian movements and therefore to the tool centre point (TCP) of the robot system?

Do you have any idea how I can solve the problem?

Best matl

Set TCP speed

Dear all,

we are working with ROS indigo right now using a Universal Robot UR10. I am wondering if there is the possibility to set a limit of the TCP speed. There are lot of applications where one needs to set a defined TCP speed, like 100 mm/s or other values.

Anyway, I just found the two scaling factors which are most like only regarding the joint speed:

  group.setMaxVelocityScalingFactor(0.25);
  group.setMaxAccelerationScalingFactor(0.25);

These scaling factors refer to the URDF files of a robot. In Universal Robot that means for example: velocity="3.2"/ Which unit is that? Is it only representing the joint speed in point to point movement or can I transfer this also to Cartesian movements and therefore to the tool centre point (TCP) of the robot system?

Do you have any idea how I can solve the problem?

Best matl