GetRtCartVel#

This command returns the current Cartesian velocity vector of the TRF with respect to the WRF, as calculated from the real-time data coming from the joint encoders.

Syntax#

GetRtCartVel()

Responses#

  • [2214][t, ẋ , ẏ , ż, ωx, ωy, ωz]

    • t: timestamp in microseconds;

    • ẋ , ẏ , ż: components of the linear velocity vector of the TCP with respect to the WRF, in mm/s;

    • ωx, ωy, ωz: components of the angular velocity vector of the TRF with respect to the WRF, in °/s.

The current TCP speed with respect to the WRF is therefore (ẋ2 + ẏ2 + ż2)1/2, and the current angular speed of the end-effector with respect to the WRF is (ωx2 + ωy2 + ωz2)1/2. Note that the components of the angular velocity vector are not the time derivatives of the Euler angles.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtCartVel is represented by DynamicDataTypeID 44. See Section 4.4.6 for more details.