Streaming Motion Interfaces

[gavanderhoorn]

@AndyZe

Velocity control of the joints, versus position control, is also important. When using velocity control, small message delays are less significant.

I think some of the robot manufacturers are catching on to this stuff. UR was way ahead of the game, and HEBI arms can also accept a stream of joint commands.

Slightly off topic, but: yes, velocity control is nice to have. UR was not necessarily ahead of the game though: KUKA LBR/IIWAs have had it for quite some time now. ABB EGM also supports both joint space and Cartesian velocity control. A third example would be Staubli.