# Other Robotic Arm Function(81-100)

## Joint velocity control

**Register:81 (0x51)**

Set target joint velocity for joint velocity mode (mode 4)

## Cartesian velocity control

**Register:82 (0x52)**

Set target Cartesian linear velocity and angular velocity, for cartesian velocity control mode (mode 5)

## Relative motion

**Register: 83 (0x53)**

## Get the attitude represented by the axis angle

**Register:91 (0x5B)**

Get the current TCP pose, and use the axial angle to represent the pose of the robotic arm

## Linear motion with axis angle

**Register:92 (0x5C)**

When planning a linear motion, the target pose is expressed in terms of axis angle, which supports the absolute and relative target pose, as well as the motion options of the base coordinate system and tool coordinate system.

## Servo_Cartesian motion (axis angle)

**Register:93 (0x5D)**

An interface for receiving high-frequency continuous Cartesian motion, and the posture is represented by the axis angle.

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