Get Target Joint Accelerations
SUMMARY
Get Target Joint Accelerations returns the joint acceleration setpoints that the robot controller is currently commanding — the desired acceleration reference generated by the trajectory planner.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
python
qdd = robot.get_target_joint_accelerations()The Code
Example: Read Controller-Commanded Target Joint Accelerations
Connect to the robot, read the target joint accelerations, and log them.
python
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()
# Connect
robot.connect(ip=robot_ip)
qdd = robot.get_target_joint_accelerations()
logger.info(f"Target joint accelerations (deg/s²): {qdd}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_target_joint_accelerations reads the joint acceleration reference currently output by the trajectory planner. The result is a 6-element list [q̈1…q̈6] in degrees per second squared.
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
list[float] | 6-element list [q̈1…q̈6] of controller-commanded joint accelerations [deg/s²]. |
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
Do not use Get Target Joint Accelerations when:
- You need the Coriolis and centrifugal torques at the current state — use Get Coriolis and Centrifugal Torques instead