Move Circular: Move to position (circular in tool-space)

TCP moves on the circular arc segment from current pose, through pose_via to pose_to. Accelerates to and moves with constant tool speed v. Use the mode parameter to define the orientation interpolation.

Parameters

pose_via: path point (note: only position is used). Pose_via can also be specified as joint positions, then forward kinematics is used to calculate the corresponding pose.

pose_to: target pose (note: only position is used in Fixed orientation mode). Pose_to can also be specified as joint positions, then forward kinematics is used to calculate the corresponding pose.

a: tool acceleration [m/s^2]

v: tool speed [m/s]

r: blend radius (of target pose) [m]

mode: 

0: Unconstrained mode. Interpolate orientation from current pose to target pose (pose_to)

1: Fixed mode. Keep orientation constant relative to the tangent of the circular arc (starting from current pose)

Example command: movec(p[x,y,z,0,0,0], pose_to, a=1.2, v=0.25, r=0.05, mode=1)

• Example Parameters:
  • Note: first position on circle is previous waypoint.
  • pose_via = p[x,y,z,0,0,0] → second position on circle.
    • Note: Rotations are not used so they can be left as zeros.
    • Note: This position can also be represented as joint angles [j0,j1,j2,j3,j4,j5] then forward kinematics is used to calculate the corresponding pose
• pose_to → third (and final) position on circle
• a = 1.2 → acceleration is 1.2 m/s/s
• v = 0.25 → velocity is 250 mm/s
• r = 0 → blend radius (at pose_to) is 50 mm.
• mode = 1 → use fixed orientation relative to tangent of circular arc