Get Target Joint Accelerations
SUMMARY
Get Target Joint Accelerations returns the joint-acceleration setpoint the controller is currently commanding (deg/s², base to wrist) - the desired acceleration reference generated by the trajectory planner.
Reads from the manipulator state - live controller setpoint when connected, zero-filled offline.
SUPPORTED ROBOTS
Available on all supported manipulators in offline mode. Live hardware readings are currently supported only on Universal Robots.
UNITS
Returns target joint accelerations in deg/s², ordered base to wrist.
The Skill
qdd = robot.get_target_joint_accelerations()The Code
"""
Read target (commanded) joint accelerations example for the Synapse SDK.
Returns the manipulator's target/commanded joint accelerations [deg/s²].
With ``--ip``, reads live hardware state. Without ``--ip``, reads from the
internal commanded cache (no connection made) and logs a warning.
Illustrated using Universal Robots (UR10e), supported on all robots.
Usage:
python get_target_joint_accelerations.py [--ip <ROBOT_IP>]
"""
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
robot.connect(ip=robot_ip)
qdd = robot.get_target_joint_accelerations()
logger.info(f"Target joint accelerations [deg/s²]: {qdd}")
robot.disconnect()The Explanation of the Code
from telekinesis.synapse.robots.manipulators import universal_robots
robot = universal_robots.UniversalRobotsUR10E()Create the robot. UR10e is used here for illustration; the same pattern works for every supported brand.
robot.connect(ip=robot_ip)Connect to the robot at the given IP so the getter returns the live controller setpoint. Without a connection, the call would return the offline commanded-cache (zero-filled).
qdd = robot.get_target_joint_accelerations()Read the controller-commanded joint acceleration setpoint in deg/s², ordered base to wrist. This is the trajectory planner's reference, not a measured acceleration.
robot.disconnect()Release the controller link once the read is done.
Return Value
| Type | Description |
|---|---|
list[float] | Controller-commanded joint accelerations in deg/s², one value per joint, ordered base to wrist. Zero-filled offline. |
Where to Use the Skill
- Trajectory analysis - Monitor the acceleration profile generated by the trajectory planner.
- Feedforward control - Read commanded accelerations for model-based control design.
- Jerk monitoring - Differentiate target accelerations to estimate jerk during motion.
When Not to Use the Skill
- You need the measured joint torques - use Get Joint Torques instead.