MoveJoint.srv
Features
The robot moves to the target joint position (pos) from the current joint position.
Parameters
Parameter Name | Data Type | Default Value | Description |
---|---|---|---|
pos | float64[6] | - | joint angle list |
vel | float64 | - | velocity |
acc | float64 | - | acceleration |
time | float64 | 0.0 | Reach time [sec] |
radius | float64 | 0.0 | Radius for blending |
mode | int8 | 0 | MOVE_MODE_ABSOLUTE =0 MOVE_MODE_RELATIVE =1 |
blendType | int8 | 0 | BLENDING_SPEED_TYPE_DUPLICATE =0 BLENDING_SPEED_TYPE_OVERRIDE =1 |
syncType | int8 | 0 | SYNC = 0 ASYNC = 1 |
Note
If the time is specified, values are processed based on time, ignoring vel and acc.
Caution
If the following motion is blended with the conditions of blendType
=BLENDING_SPEED_TYPE_BUPLICATE and radius>0, the preceding motion can be terminated when the following motion is terminated while the remaining motion time determined by the remaining distance, velocity, and acceleration of the preceding motion is greater than the motion time of the following motion. Refer to the following image for more information.
Return
Return Name | Data Type | Default Value | Description |
---|---|---|---|
success | bool | - | True or False |