Sets the acceleration of the robot base. This function is used when the robot is attached to a moving base such a linear rail or vertical lift. Specifying the base acceleration is used to prevent premature protective stops by informing the control system that forces are being exerted on the robot through acceleration of the base.

Parameters

a: the linear acceleration of the base in x, y, z directions

Example command:

set_base_acceleration([0.10 0.0 0.0])

Example Parameters:

a = [0.10 0 0] specifies acceleration in the linear X direction of 0.10 m/s²