Cartecian velocity control

Accelerate linearly in Cartesian space and continue with constant tool speed. The time t is optional; if provided the function will return after time t, regardless of the target speed has been reached. If the time t is not provided, the function will return when the target speed is reached.

Parameters

xd: tool speed [m/s] (spatial vector)

a: tool positional acceleration [m/s^2]

t: time [s] before function returns (optional)

aRot: tool rotational acceleration [rad/s^2] (optional). If not defined, position acceleration value in [rad/s^2] will be used

Example command: speedl([0.5,0.4,0,1.57,0,0], 0.5, 0.5)

• Example Parameters:
  • xd -> Tool speeds of: x=500 mm/s, y=400 mm/s, rx=90 deg/s, ry and rz=0 deg/s
  • a = 0.5 m/s^2 -> acceleration of the tool
  • t = 0.5 s -> time before the function returns