Finding out actual robot speed

yashmexx

My name is Yash, PhD researcher in welding engineering centre, cranfield University. The ABB S4C robot we are using is: IRB2400/10.
I am investigating different patterns related to the deposition. So, many of the patterns have rounded corners and sharp corners as well (for example robot moves in a sinusoidal wave pattern). I fear that the robot changes it speed at these positions because of acceleration and deceleration. As a result, there is an extra deposition of metal at the ends and I dont see a flat profile welds. I would like to find out the information relating to the travel speed of the robot during the movement and during the corners as well. Basically, I want to know how the speed changes during the course. Can you please let me know how do I approach in finding out the speed of the robot ? Also, any other methods you think so as to find the speed of the robot. Thanks in advance.