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 (RTMa- chine). The RuntimeMachine communicates with the robot with a frequency of 500hz.

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 3 coordinates is a position vector and the last 3 an axis-angle (http://en.wikipedia.org/wiki/Axis_angle).