Get Target Joint Velocities
SUMMARY
Get Target Joint Velocities returns the joint velocity setpoints that the robot controller is currently commanding — the desired velocity reference — as opposed to the actual measured velocities returned by Get Actual Joint Velocities.
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
qd_target = robot.get_target_joint_velocities()The Code
Example: Read Controller-Commanded Target Joint Velocities
Connect to the robot, read the target joint velocities, 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)
qd = robot.get_target_joint_velocities()
logger.info(f"Target joint velocities (deg/s): {qd}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_target_joint_velocities reads the joint velocity reference currently output by the motion controller trajectory generator. The result is a 6-element list [q̇1…q̇6] in degrees per second.
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
list[float] | 6-element list [q̇1…q̇6] of controller-commanded joint velocities [deg/s]. |
Where to Use the Skill
- Velocity tracking analysis — Compare target velocities against actual velocities from Get Actual Joint Velocities
- Feedforward control design — Read the commanded velocity profile during motion for controller tuning
When Not to Use the Skill
Do not use Get Target Joint Velocities when:
- You need the measured joint velocities — use Get Actual Joint Velocities instead