UFactory xArm 5, Руководство пользователя

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2.2.2. Linear Motion and Arc Linear Motion
2.2.2.1. Linear Motion
Characteristics of Linear Motion
The concept of linear motion

Stright linear motion between Cartesian coordinates (unit: mm), the speed is
not continuous between each command.
 Users can control the motion of the robotic arm based on the base coordinate
system and TCP coordinate system. The trajectory of tool center point in the
Cartesian space is a straight line. Each joint performs a more complex
movement to keep the tool in a straight path. The TCP path is unique once the
target point is confirmed, and the corresponding posture in the execution
process is random. X, Y, and Z control the position of TCP in base or tool
coordinate system, in the unit of mm. While Roll/Pitch/Yaw controls the TCP
orientation in the unit of degree.

Linear motion and circular linear motion belong to the Cartesian space
trajectory planning, which needs to be solved by inverse kinematics. Therefore,
there may be no solution, multiple solutions, and approximated solutions; and
due to the nonlinear relationship between the joint space and Cartesian space,
the joint motion may exceed its maximum speed and acceleration limits.
Blockly example:
【 Set TCP speed （） mm/s 】 : Set the speed of the linear motion in mm/s.
【 Set TCP acceleration （） mm/s² 】 : Set the acceleration of the linear motion in
mm/s
2
.