Get Target TCP Speed
SUMMARY
Get Target TCP Speed returns the TCP spatial velocity setpoint currently commanded by the robot controller — the desired Cartesian velocity 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
speed = robot.get_target_tcp_speed()The Code
Example: Read Controller-Commanded Target TCP Speed
Connect to the robot, read the target TCP speed, and log it.
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)
speed = robot.get_target_tcp_speed()
logger.info(f"Target TCP speed [vx, vy, vz, vrx, vry, vrz]: {speed}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_target_tcp_speed returns a 6-element list [vx, vy, vz, vrx, vry, vrz] representing the commanded TCP spatial velocity: linear velocity in m/s and angular velocity in rad/s.
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
list[float] | 6-element list [vx, vy, vz, vrx, vry, vrz] — commanded TCP linear velocity [m/s] and angular velocity [rad/s]. |
Where to Use the Skill
- Velocity tracking error — Compare target speed against actual TCP speed from Get Actual TCP Speed
- Trajectory analysis — Monitor the commanded velocity profile during motion
When Not to Use the Skill
Do not use Get Target TCP Speed when:
- You need the measured TCP velocity — use Get Actual TCP Speed instead