54
9.4.7.Linear Motion with Circular Arc
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In terms of speed, the speed between arc motion commands is continuous.
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In terms of track accuracy, it will reach point C from the current point A, but will not reach
point B in the middle, and will bypass the circular path around point B.
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The arc blending radius is reflected in each command with an arc line, and an arc is made
at the middle point. The radius of this circle is the blending radius.
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The circular arc motion is adapted to: a continuous speed is needed between the com-
mands, and the trajectory accuracy of each point is not required.
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When moving in a circular arc motion, the robotic arm needs a cache command to pro-
gramme the motion.
9.5.Path Planning Guidelines
Figure 6.7
01.If an emergency stop occurs, and a zero return operation or other path
planning is needed, be sure to perform a safety assessment to prevent colli-
sions and, if necessary, unlock the joint to a safe point and then reset.
02.If the robotic arm collides with an obstacle during the movement, the
robotic arm will be stopped by external force. At this time, an error will be
reported and a mechanism for clearing the error is required.
01.Repeat the same set of Cartesian commands. When no joint command is
used, the posture of the arm will change slightly. If it continues to accumu-
late, it may cause an error. In motion planning, a joint command correction
is needed.
02.When going to the same position, the rotation process of the joint motion,
Cartesian motion, and the robotic arm are different.
03.In a certain posture of the robotic arm arm, it may not be able to take the
Cartesian linear motion. In this case, the rotation angle of the joint needs to
be readjusted.
04.If the x/y/z cannot move simultaneously with the Cartesian linear motion,
please decompose the position.
05.Try to avoid displacement and rotation in the same Cartesian command.
06.When the error mechanism occurs, some need to be cleared manually to
keep the robotic arm in normal operation.
CAUTION
DANGER
R