Velocities, accelerations and jerk limits

Joint space

LibIiwa.set_desired_joint_velocity_rel(value: float) → bool

Define the axis-specific relative velocity (% of maximum velocity)

Parameters:: value (float) – The relative velocity in % of maximum velocity [0, 1]
Raises:: AssertionError – If the value is not in the range [0, 1]
Returns:: True if successful, False otherwise
Return type:: bool

Example:

>>> iiwa.set_desired_joint_velocity_rel(0.1)
True

LibIiwa.set_desired_joint_acceleration_rel(value: float) → bool

Define the axis-specific relative acceleration (% of maximum acceleration)

Parameters:: value (float) – The relative acceleration in % of maximum acceleration [0, 1]
Raises:: AssertionError – If the value is not in the range [0, 1]
Returns:: True if successful, False otherwise
Return type:: bool

Example:

>>> iiwa.set_desired_joint_acceleration_rel(0.1)
True

LibIiwa.set_desired_joint_jerk_rel(value: float) → bool

Define the axis-specific relative jerk (% of maximum jerk)

Parameters:: value (float) – The relative jerk in % of maximum jerk [0, 1]
Raises:: AssertionError – If the value is not in the range [0, 1]
Returns:: True if successful, False otherwise
Return type:: bool

Example:

>>> iiwa.set_desired_joint_jerk_rel(0.1)
True

LibIiwa.set_desired_cartesian_velocity(value: float) → bool

Define the absolute Cartesian velocity (m/s)

The Cartesian velocity will be automatically converted to mm/s before sending to the robot

Example:

>>> iiwa.set_desired_cartesian_velocity(10)
True

LibIiwa.set_desired_cartesian_acceleration(value: float) → bool

Define the absolute Cartesian acceleration (m/s^2)

The Cartesian acceleration will be automatically converted to mm/s^2 before sending to the robot

Parameters:: value (float) – The Cartesian acceleration in m/s^2 (0, Inf)
Raises:: AssertionError – If the value is not in the range (0, Inf)
Returns:: True if successful, False otherwise
Return type:: bool

Example:

>>> iiwa.set_desired_cartesian_acceleration(10)
True

LibIiwa.set_desired_cartesian_jerk(value: float) → bool

Define the absolute Cartesian jerk (m/s^3)

The Cartesian jerk will be automatically converted to mm/s^3 before sending to the robot

Example:

>>> iiwa.set_desired_cartesian_jerk(10)
True