Follow Joint Waypoints

Command UR Series cobot using the RTDE interface to follow a specified set of joint positions

Since R2025a

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Libraries:
Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators / UR RTDE Blocks

Description

The Follow Joint Waypoints block commands the UR Series cobot using the RTDE interface to follow a specified set of joint positions for completing a trajectory. The block allows you to select between smooth motion or trapezoidal motion, and provides additional control options for trapezoidal motion.

Ports

Input

Waypoints — Joint space waypoints to complete the trajectory

numeric vector

Joint space waypoints (in radians) to complete the trajectory, specified as a N-by-6 numeric vector, where N is the dimension of the trajectory.

Data Types: double

Valid Waypoints — Number of valid waypoints for the cobot to follow

numeric scalar

Number of valid waypoints that you want the cobot to follow (N) if the required joint space waypoints (using the Waypoints input port) is not provided directly; but, they are generated from another block.

Dependencies

This port appears only if you select the parameter Enable Valid Number of Waypoints input port.

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Data Types: double

Waypoint Times — Absolute time for each waypoint segment to complete the motion

numeric vector

Absolute time (time from start), in seconds, for each waypoint segment to complete the motion, specified as a 1-by-N numeric vector.

Dependencies

This port appears only if you select both these options: Trapezoidal Motion for Type of Motion and Time-based control for Mode of Control.

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Data Types: double

Enable — Enable block to accept waypoints

1 | 0

Enable the block and activate the motion of cobot based on joint waypoints. Set the port to one of these values:

• 1 – Enable the block to accept Waypoints input and execute the motion

• 0 – Disable the block and ignore Waypoints input

Data Types: Boolean

Parameters

UR Controller IP address — IP address of UR Controller

192.168.1.10 (default) | scalar

Specify the IP address of UR Controller corresponding to the UR Series cobot to which you are establishing the connection.

Cobot model — Model name of UR Series cobot

UR5e (default) | UR3 | UR3e | UR5 | UR10 | UR10e | UR16e

Model name of UR Series cobot to which you are establishing the connection.

Enable Valid Number of Waypoints input port — Enable additional input port to specify number of valid waypoints

off (default) | on

Enable additional input port Valid Number of Waypoints to specify the number of valid waypoints (N) to consider if the Waypoints input is generated from another block.

Type of motion — Type of motion to consider for completing the trajectory

Smooth Motion (default) | Trapezoidal Motion

Type of motion to consider for completing the trajectory based on the specified joint space waypoints:

• If you select the Smooth motion option, either use the default value specified for Blend radius for waypoints to pass through parameter or specify a different value for this parameter. Specifying acceleration and velocity for smooth motion is optional and the can be done using the options under the Motion Control tab of the block.

• If you select the Trapezoidal motion option, use the Mode of control parameter to further select between acceleration and velocity control or time-based control, using the options under the Motion Control tab of the block.

Mode of control — Mode of control for trapezoidal motion of the cobot

Acceleration and Velocity based Control (default) | Time-Based Control

Mode of control for trapezoidal motion of the cobot based on the specified joint space waypoints.

Dependencies

To enable this parameter, select the option Trapezoidal Motion for the Type of Motion parameter.

Blend radius for waypoints to pass through — Blend radius for completing a smooth motion

0.05 (default) | numeric scalar

Blend radius (in meters) for completing a smooth motion of the cobot, based on the joint waypoints input, specified as numeric scalar.

Dependencies

To enable this parameter, select the option Smooth Motion for the Type of Motion parameter.

Enable Acceleration input port — Enable input port for acceleration

off (default) | on

Enable additional input port for providing the acceleration value, for either smooth motion or trapezoidal motion of cobot. Selecting this parameter disables the option to manually enter acceleration value using the Acceleration to control speed profile parameter.

Dependencies

This parameter appears for these options:

• Select Smooth Motion for Type of Motion

• Select Trapezoidal Motion for Type of Motion and select Acceleration and Velocity based Control for Mode of Control

Enable Velocity input port — Enable input port for velocity

off (default) | on

Enable additional input port for providing the velocity value, for either smooth motion or trapezoidal motion of cobot. Selecting this parameter disables the option to manually enter the velocity value using the Velocity to control speed profile parameter.

Dependencies

This parameter appears for these options:

• Select Smooth Motion for Type of Motion

• Select Trapezoidal Motion for Type of Motion and select Acceleration and Velocity based Control for Mode of Control

Acceleration to control speed profile — Acceleration to control speed profile

1 (default) | numeric scalar

Acceleration (in rad/s²) to control speed profile of the trajectory, specified as a numeric scalar.

Dependencies

This parameter appears only if the Enable Acceleration input port parameter is not selected.

Velocity to control speed profile — Velocity to control speed profile

1 (default) | numeric scalar

Velocity (in rad/s) to control speed profile of the trajectory, specified as a numeric scalar.

Dependencies

This parameter appears only if the Enable Velocity input port parameter is not selected.

Version History

Introduced in R2025a