[Feature]: the command for speed control

[zhanglepy]

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What feature or enhancement are you proposing?

Hello everyone, may I ask how to achieve velocity control of the UR5e robotic arm end in Cartesian space in Genesis, such as controlling the speedL instruction in the UR_rtde library for the robotic arm. I know there is position control in the case of Genesis, sending POS directly, but I couldn't find the command for speed control.

Motivation

to achieve velocity control of the UR5e robotic arm end in Cartesian space in Genesis

Potential Benefit

to achieve velocity control of the UR5e robotic arm end in Cartesian space in Genesis

What is the expected outcome of the implementation work?

• [ to achieve velocity control of the UR5e robotic arm end in Cartesian space in Genesis]

Additional information

No response

[zswang666]

Just to clarify. Are you looking for converting "velocities of certain links in Cartensian space" to "joint velocity" or to "joint torque"? For joint velocity, we can simply use jacobians from Ik. For joint torque, we need inverse dynamics.

[zhanglepy]

Thank you for your prompt response. Please allow me to answer your questions. I don't need the velocity of the joint space of the robotic arm. I want the velocity of the Cartesian space at the end of the robotic arm, but I don't need the dynamics of the robotic arm because I want to do admittance control based on the end sensor of the robotic arm (such as constant force polishing of workpieces). Based on the above requirements and existing conditions, how should I implement it and what Genesis functions do I need to call? Thank you very much for your and your team's efforts!