readCartesianPose

Get current end-effector pose from the robot

Since R2024a

Syntax

pose = readCartesianPose(ur)

Description

pose = readCartesianPose(ur) waits for the next joint state update from the Universal Robots cobot connected via RTDE interface, and returns current end-effector pose.

Examples

Obtain End-Effector Pose from Cobot

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

ur = urRTDEClient('172.19.98.176');

Get the current end-effector pose of the cobot, representing the current position and orientation of the end-effector.

pose = readCartesianPose(ur);

pose = 1×6    
    3.1415    0.5176   -1.5708   -0.2435   -0.2329    0.7613

Input Arguments

ur — Connection to Universal Robots cobot

object

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

Output Arguments

pose — Current end-effector pose

double vector

Current end effector pose, returned as a 1-by-6 vector consisting of the three orientation and position values (represented as [theta(z) theta(y) theta(x) x y z]) in radians and meters respectively.

Data Types: double

Version History

Introduced in R2024a