integration:rtde
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende Überarbeitung | Nächste ÜberarbeitungBeide Seiten der Revision | ||
integration:rtde [2023/07/12 22:28] – [Available units and channels] oliver | integration:rtde [2023/07/12 22:36] – [Available units and channels] oliver | ||
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Zeile 40: | Zeile 40: | ||
====Available units and channels ==== | ====Available units and channels ==== | ||
- | ^ Unit name^ Description ^ Channel name ^ Unit ^ Type ^ | + | ^ Unit name^ UR Tag ^Description ^ Channel name ^ Unit ^ Type ^ |
- | ^ actual | Actual joint angles for 6 segments | + | ^ actual |
+ | ^ actual | actual_qd | Actual joint velocities/ | ||
^ actual | Temperatures in 6 joints of an UR-robot. | URt< | ^ actual | Temperatures in 6 joints of an UR-robot. | URt< | ||
^ actual | Actual TCP position | v< | ^ actual | Actual TCP position | v< | ||
^ actual | Actual TCP orientation | q< | ^ actual | Actual TCP orientation | q< | ||
- | ^ actual | Timestamp | + | ^ actual | Time elapsed since the controller was started |
- | ^ target | Target joint angles for 6 segments of an UR-robot. | URAngle< | + | ^ target |
+ | ^ target | target_qd | Target joint velocities/ | ||
^ target | Target TCP position | v< | ^ target | Target TCP position | v< | ||
^ target | Target TCP orientation | q< | ^ target | Target TCP orientation | q< |
integration/rtde.txt · Zuletzt geändert: 2023/07/18 22:30 von oliver