Module motion

This module contains functions and variables built into the URScript programming language.

URScript programs are executed in real time in the URControl RuntimeMachine (RTMachine). The RuntimeMachine communicates with the robot at a frequency of 500 Hz.

Robot trajectories are generated online by calling the move functions movej, movel and the speed functions speedj, speedl.

Joint positions (q) and joint speeds (qd) are represented directly as lists of 6 floats, one for each robot joint. Tool poses (x) are represented as poses also consisting of 6 floats. In a pose, the first three coordinates form a position vector and the last three an axis-angle (http://en.wikipedia.org/wiki/Axis_angle).