Move to the goal position (linear in joint-space)

OptiMove dynamically adapts speed and acceleration to perform smooth motions using jerk-limited speed profiles. The speed and acceleration parameters control the speed profile of the move. Setting speed and acceleration parameters to 1 causes the fastest cycle time the robot is capable of. This command is similar to movej() but with smoother motions with less vibration.

Parameters

goal: (q, pose, struct{pose, frame}, string) - the target for the TCP motion can be defined in different ways:

• (q) as robot joint positions.

• (pose) as a pose in robot base coordinate frame. The target joint positions will be calculated by inverse kinematics.

• (struct{pose, frame}) as a pose and the name of a reference coordinate frame. The goal will be set to this pose in this reference coordinate frame.

• (string) as the name of a world model object. The goal will be set to the object's pose.

a (optional): Joint acceleration as a fraction of what the joints are able to perform - a∈(0.0,1.0]

v (optional): Joint speed as a fraction of how fast the joints can move during the motion - v∈(0.0,1.0]

r (optional): Blend radius [m]

If a blend radius is set, the robot arm trajectory will be modified within the blend radius of the destination position. If the blend region of this move overlaps with the blend radius of previous or following waypoints, this move will be skipped, and an ’Overlapping Blends’ warning message will be generated in the log screen.

Example command: optimovej([0, 1.57, -1.57, 3.14, -1.57, 1.57], a=0.4, v=0.6, r=0.0)

• Example Parameters:
• goal = [0, 1.57, -1.57, 3.14, -1.57, 1.57] → joint positions with base at 0 deg rotation, shoulder at 90 deg rotation, elbow at -90 deg rotation, wrist 1 at 180 deg rotation, wrist 2 at -90 deg rotation, wrist 3 at 90 deg rotation.
• a = 0.4 → acceleration at either end of the motion is 40% of the acceleration the robot is capable of producing in the specific joint configuration.
• v = 0.6 → velocity during motion cruise phase is 60% of the velocity the joints can move at.
• r = 0.0 → the blend radius is zero meters, meaning the robot will stop at the waypoint.

Notes:

• The absolute speed and acceleration of the robot depends on the joint configuration during the move. A value of e.g. 0.4 might therefore produce a faster speed/acceleration in one area of the robot's workspace and a slower speed/acceleration in another area of the robot's workspace. Values of 1.0 will always give the highest speed and acceleration that are possible for a given robot path.

• To avoid high accelerations that can cause dropped items in e.g. suction cup grippers, consider using the command tool_wrench_limit_set() to limit the acceleration of the items held by the gripper.

• It is possible to blend into this move type from movej/l and optimovej/l. When coming from other movement types the robot should be at standstill when starting the move.