recordRobotState

Log the key robot state parameters during motion of robot

Since R2024a

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Syntax

data = recordRobotState(ur,duration,rate)

Description

data = recordRobotState(ur,duration,rate) records the cobot's joint state over the specified time and rate.

Examples

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Connect to a physical or simulated cobot, using urRTDEClient object.

ur = urRTDEClient('172.19.98.176');

Record the robot's joint configuration over a specified duration (in seconds) and rate (in Hz).

duration = 20
rate = 5
data = recordRobotState(ur, duration, rate)
data = 
    JointConfiguration: [100×6 double]
         JointVelocity: [100×6 double]
                  Pose: [100×6 double]
            EEVelocity: [100×6 double]
     JointAcceleration: [100×6 double]

Input Arguments

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Connection to physical or simulated cobot from Universal Robots, specified as a urRTDEClient object.

Total time to record the joint configurations, specified in seconds.

Data Types: double

Rate at which the state data must be logged from the simulated cobot during its motion, specified in Hz (hertz).

Data Types: double

Output Arguments

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Matrix where each row represents the joint configuration at a given time.

Data Types: struct

Version History

Introduced in R2024a

See Also