Universal Robots UR3/CB3 User Manual

14.7 Command: Relative Waypoint
14.7 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 between the two given
positions (left to right).
Note: 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 3.10
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II-83 CB3

Universal Robots UR3/CB3 Specifications

General

Brand	Universal Robots
Model	UR3/CB3
Category	Robotics
Language	English