About using VR to control real UR5 robot arm

[ZisongXu]

I am now able to successfully control the movement of the real UR5 robot arm via VR, but I have run into a problem: I cannot control the speed at which the real UR5 robot arm moves. What I mean by this is that when the robot arm is moving in VR, I can control the virtual robot arm at any speed with the VR joystick, but the real UR5 robot arm can only move at a constant speed. My idea is that since the UR5 robot arm has six nodes, each with its own speed of movement, but I can't make the real robot arm move at the speed of the six nodes, the real robot arm can only move at a constant speed.
Please help me.