Joint speed

Accelerate linearly in joint space and continue with constant joint 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

qd: joint speeds [rad/s]

a: joint acceleration [rad/s^2] (of leading axis)

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

Example command: speedj([0.2,0.3,0.1,0.05,0,0], 0.5, 0.5)

• Example Parameters:
  • qd -> Joint speeds of: base=0.2 rad/s, shoulder=0.3 rad/s, elbow=0.1 rad/s, wrist1=0.05 rad/s, wrist2 and wrist3=0 rad/s
  • a = 0.5 rad/s^2 -> acceleration of the leading axis (shoulder in this case)
  • t = 0.5 s -> time before the function returns