cancel
Showing results for 
Search instead for 
Did you mean: 

calculation of joint velocity of kinematic devices

Creator
Creator

stupid question,

 

but what is the definition of that joint speed and joint acceleration values of a kinematic devices.

 

for the joint velocity:

Is it mm/s or m/s or something else on prismatic joints?

Is it deg/minute or something else on revolute joints?

maybe i missed some documentation, but i couldnt find anything according to that point.

 

 

 

1 REPLY

Re: calculation of joint velocity of kinematic devices

Siemens Legend Siemens Legend
Siemens Legend

Hi Titaniser,

 

These are the values returned by the API:

 

For revolute joints: joint speed -> rad/s  ; joint acc -> rad/s^2
For prismatic joints: joint speed -> mm/s ; joint acc -> rad/s^2

 

Best Regards,

DianaG