[quote="AndyZe, post:4, topic:5858, full:true"] Velocity control of the joints, versus position control, is also important. When using velocity control, small message delays are less significant. I think some of the robot manufacturers are catching on to this stuff. UR was way ahead of the game, and HEBI arms can also accept a stream of joint commands. [/quote] Slightly off topic, but: yes, velocity control is nice to have. UR was not necessarily ahead of the game though: KUKA LBR/IIWAs have had it for quite some time now. ABB EGM also supports both joint space and Cartesian velocity control. A third example would be Staubli. --- [Visit Topic](https://discourse.ros.org/t/streaming-motion-interfaces/5858/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: