Universal Robots UR5 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 dif-
ference between 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.
CB3 II-78 Version 3.4.5
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Universal Robots UR5 Specifications

General

Brand	Universal Robots
Model	UR5
Category	Robotics
Language	English