Command robot to move to desired Cartesian pose
commands the Universal Robots cobot connected through ROS interface, based on the specified
Cartesian pose of the end-effector and a maximum duration. The method commands the robot to
complete the motion from current Cartesian pose to the desired Cartesian pose within the
duration. The default
EndTime is 5 seconds.
Command the Cobot to Desired Cartesian Pose
Connect to a physical or simulated cobot at IP address
192.168.2.112 on the ROS network.
ur = universalrobot('192.168.2.112');
Command the cobot to by providing the desired Cartesian pose and 7-seconds duration as inputs.
pose = [-pi/2 0 -pi/2 0.5 0 0.5]; sendCartesianPose(ur,pose,EndTime=7);
ur — Connection to Universal Robots cobot
Connection to physical or simulated cobot from Universal Robots, specified as a
pose — Desired Cartesian pose
Desired Cartesian pose of the simulated cobot, represented as a 1-by-6 numeric vector, in the form of [thetaz thetay thetax x y z]. The units are radians and seconds respectively for the three axes.
endtime — Duration to complete the motion
Maximum duration by which the simulated cobot must try to complete the motion to
reach the desired cartesian pose, specified in seconds. In some cases, even with this
argument specified, there is no guarantee that the cobot will reach the desired joint
configuration. In such cases, use
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