Move Process

Blend circular (in tool-space) and move linear (in tool-space) to position. Accelerates to and moves with constant tool speed v.

Parameters

pose: target pose (pose 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 [m]

Example command: movep(pose, a=1.2, v=0.25, r=0)

• Example Parameters:
  • pose = p[0.2,0.3,0.5,0,0,3.14] -> position in base frame of x = 200 mm, y = 300 mm, z = 500 mm, rx = 0, ry = 0, rz = 180 deg.
  • a = 1.2 -> acceleration of 1.2 m/s^2
  • v = 0.25 -> velocity of 250 mm/s
  • r = 0 -> the blend radius is zero meters.