13.7 Command: Relative Waypoint
13.7 Command: Relative Waypoint
A waypoint with the position given relative to the robot arm’s previous position, such
as “two centimeters to the left”. The relative position is defined as the difference be-
tween the two given positions (left to right). Note that repeated relative positions can
move the robot arm out of its workspace.
The distance here is the Cartesian distance between the tcp in the two positions. The
angle states how much the tcp orientation changes between the two positions. More
precisely, the length of the rotation vector describing the change in orientation.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-55 CB3
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