[ros-users] [Discourse.ros.org] [ROS-Industrial] Streaming Motion Interfaces

gavanderhoorn ros.discourse at gmail.com
Mon Aug 27 14:22:34 UTC 2018

[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.

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.

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