UFactory xArm 5, Руководство пользователя

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(preferably 100Hz or 200 Hz), similar to the position servo control command.
(Note: this execution is similar to the step response, for safety considerations, do
not give a distant target position at once). Using this mode requires detailed
position planning for each axis and motion estimation of the robotic arm, which is
difficult to develop.
● Servo_cartesian motion: move to the given cartesian position with the fastest
speed (1m/s) and acceleration (unit: mm). This command has no buffer, only
execute the latest received target point, and the user needs to enter the servoj
mode to use. In servoj mode, the maximum receiving frequency of the control
box is 250Hz (the maximum receiving frequency of the version before 1.4.0 is
100Hz). If the frequency of sending commands exceeds 250Hz, the redundant
commands will be lost. The xArm-Python-SDK interface function we provide
also reserves the speed, acceleration and time settings, but they will not work at
present. The suggested way of use: If you want to plan your track, you can use
this command to issue a smoothed track point with interpolation at a certain
frequency (preferably 100Hz or 200 Hz), similar to the position servo control
command. (Note: this execution is similar to the step response, for safety
considerations, do not give a distant target position at once). It is recommended
that the frequency of user issuing commands be controlled within the range of
30Hz-250Hz. If the frequency is lower than 30Hz, the motion of the robotic arm
may be discontinuous. Using this mode requires planning the fine position of
each axis and predicting the motion behavior of the robotic arm, which is difficult
to develop.
Operators who design the robotic arm motion path must be
qualified with the following conditions:
1. The operator should have a strong sense of security
consciousness, and sufficient knowledge on robotic arm
operations.
2. The operator should have in-depth knowledge on the
robotic arm and understands the joint motion mode and the
linear motion mode.
3. The operator should have safety knowledge on
emergencies.