Sorry for our late reply.
You can send custom trajectories in various ways. Also speeds are adjustable to your needs.
If you use our WebGUI to program the robot, you can set the speed per move command as well as a factor per Waypoint to slow down or accelerate in the next segment.
You can also send move commands via our API (using Python or C++).
You can also overlay or underlay motion on top of trajectories. We have a concept of UserFrames, to which you can stream data in realtime. This motion is then added to the motion that is coming out pf our trajectory generator. This way you can for instance make a belt trackig application, where you execute a motion on top of a moving frame.
And then you can also stream joint or cartesian velocities or trajectories (position/orientation). You should however have a realtime host that streams the points in a regular interval, since we do not interpolate much. Of course you can use Motorcortex to build your realtime application. With this method you get full control over the robot motion.
So many possibilities! This is exactly why we created Motorcortex: so our users can do whatever crazy stuff they come up with.
THINK : POSSIBLE !