AUBO AUBO-i3, User Manual

Page: 137 / 177

V4.5
©2015-2019 AUBO.All rights reserved.
133
Move Condition
The Move command is used to move the center point of the robot's end tool between waypoints. The basic
point of travel (waypoint) is used to control the operation of the robot, and the waypoint must be placed
under the motion command.
➢ Add a Move node to the list of programs, and there is a Waypoint node below.
➢ Click the alias to the right of the input box to modify the command name.
➢ Select the Move node to configure the status of the Move command.
➢ There are three options for the motion properties of the arm: move joint , move line , and move track .
A detailed description will be given later.
➢
Click Remove to remove this Move command.
➢ You must click Confirm to confirm that the configuration is complete and save .
➢ The arc and Movep motion modes in linear motion and trajectory motion belong to Cartesian space
trajectory planning and need to be solved by inverse kinematics. Therefore, there may be no solution,
multiple solutions, and approximation solutions; and due to the nonlinear relationship between joint
space and Cartesian space, axial motion may exceed its maximum speed and acceleration limits.
It is highly recommended to perform offline simulation verification first.