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Added support for acceleration parameter for jogStart() function

Uwe Kindler requested to merge gitlabuser0xFFFF/ur_rtde:jog_acceleration into master

This merge request adds support for custom acceleration parameter for jogStart() function.

If the gripped items need a certain acceleration when jogging, then it is now possible to provide a custom acceleration value.

We implemented the functionality because we would like to have the option to override the speed scaling when jogging. That means, if someone presses a key (i.e. the shift key) while jogging the robot, then the jog speed will be increased. If only the speed is increased without the acceleration, then an acceleration ramp is noticable because the speed scaling also scales the acceleration. To avoid this, the speed and the acceleration will be increased but this in turn requires an acceleration parameter.

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