Important
The curve segments are not generated and/ or represented according to a spline model; they are rather based on Bézier
curves.
Info
For describing the continuity of the curves used in the Multipoint Path node, control points are generated on the bisector of
each waypoint junction (angle). Curves are therefore tangent to those bisectors.
Step 2
l
Using the Freedrive mode or the UR Move menu, move the robot arm to the next desired position.
l
Add another waypoint in the program tree by tapping the Add line or Add curve button.
Fig. 4-24: Multipoint Path interface with Line/ Curve options.
Caution
Adding several waypoints (lines or curves) without moving the robot in between them will result in the generation of identical
waypoints. In order to remedy this situation, the user can edit each waypoint created and adjust its position.
Tip
You can toggle at any time between the Line to waypoint and Curve to waypoint options.
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