Guide to run robotic arm at the maximum speed?

If you want to speed up the motion of UFACTORY arm, please adjust the following 2 aspects.

Take xArm Series as an example.

Firmware version: v2.0.0+

UFactory Studio version: v2.0.0+

xArm-Python-SDK version: v1.10.0+

1. Parameter Adjustment

The main parameters that affect the movement speed of xArm are: speed, acceleration, and jerk.

	TCP Motion	Joint Motion
Speed	1000mm/s	0 ~ 180°/s
Acceleration	50000mm/s²	1146°/s²
Jerk	100000mm/s³	28647°/s³

It is recommended to adjust the jerk to the maximum, which will speed up the motion of robotic arm.

• Parameter adjustment via UFACTORY Studio

'Settings-General-Advanced Settings-Parameters'

• Parameter adjustment via Python SDK

1) Speed: 'speed' parameter

2) Acceleration: 'mvacc' parameter

3) Jerk: set_tcp_jerk() , set_joint_jerk()

//code example
arm.set_tcp_jerk(100000)
arm.set_joint_jerk(28647, is_radian=True)
arm.save_conf()

2. Motion Planning

Adjust Parameters to do continuous motion.

• radius > 0

• wait = False

Example:

Radius>0, wait=False; Video: https://youtu.be/oX_J8RplEw4

Radius>0, wait=True; Video:https://youtu.be/wpBzt3a30L0

Radius<0, wait=False; Video:https://youtu.be/pi-5PPhPpfg