How to realize real-time velocity control

[Steven-ZY]

Hi~ Can this package realize real-time velocity control of an ABB robot? Do I need to purchase a license for EGM?

[Steven-ZY]

The effect I want is to directly use python to control the robotic arm in real time, giving the speed of the 6 joints. The form is roughly as follows:
set_velocity(vtx, vty, vtz, vrx, vry, vrz) #vtx, vty, vtz, vrx, vry, vrz are the desired velocities of the six degrees of freedom at the robot end

[johnwason]

For real-time control you well need EGM. We emulate velocity control by integrating to get a position command. See https://github.com/hehonglu123/Welding_Motoman/blob/main/toolbox/vel_emulate_sub.py for an example.

We typically use the Robot Raconteur driver for this purpose that builds on the other ABB packages. https://github.com/robotraconteur-contrib/abb_robotraconteur_driver_hmp