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xArm-Developer / xArm-CPLUS-SDK

C++ SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
41 stars 28 forks source link

Joint acceleration and jerk? #9

Closed Programmer-Jiaoyang closed 2 years ago

Programmer-Jiaoyang commented 2 years ago

Hello, we recnetly need information of velocity, acceleration and torque of each joint for some calculations. While the first and third one can be achieved that with C++ API arm->realtime_joint_speeds and arm->joints_torque properties, how to deal with accelerations? Is that avaliable? What is more, why joint_jerk property only return a single number? There should be 6 joints for my xarm 6 and which joint this number stands for? Thanks

Programmer-Jiaoyang commented 2 years ago

Have got the reply thanks