readJointConfiguration

Get current joint configuration from the robot

Since R2024a

Syntax

jointangles = readJointConfiguration(ur)

Description

jointangles = readJointConfiguration(ur) waits for the next joint state update from the Universal Robots cobot connected via the RTDE interface, and returns current joint configuration.

Examples

Obtain Joint Configuration from Cobot

Connect to a physical or simulated cobot, using urRTDEClient object.

ur = urRTDEClient('172.19.98.176');

Get current joint configuration of the cobot.

jointangles = readJointConfiguration(ur);

jointAngles = 1×6    
    0.0001   -1.9552    1.6748   -2.5979   -0.0001    0.2542

Input Arguments

ur — Connection to Universal Robots cobot

object

Connection to physical or simulated cobot from Universal Robots, specified as a urRTDEClient object.

Output Arguments

jointangles — Current joint configuration

numeric vector | [-2pi,2pi]

Current joint configuration, returned as a 1-by-6 vector of angles in radians.

Data Types: double

Version History

Introduced in R2024a