Universal Robots UR10/CB3, Руководство пользователя

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Pure joint space blends (bullet 1), however, may behave in a way that is less intuitive, since the
robot will try to achieve the smoothest possible trajectory in Joint space taking velocities and
time requirements into account. Due to this, they may deviate from the course specified by the
waypoints. This is especially the case if there are significant differences in a joint’s velocity
between the two trajectories.
Caution: if the velocities are very different (e.g. by specifying
advanced settings - either velocity or time - for a specific waypoint) this can result in large
deviations from the original trajectory as shown in figure
16.8 . If you need to blend between
different velocities and cannot accept this deviation consider a blend in Cartesian space using
MoveL instead.
v1
v2
v1 << v2
WP_1
WP_2
WP_3
WP_1
WP_2
WP_3
v1
v2
v1 >> v2
16.8: Joint space blending when initial velocity
v1
is significantly smaller than final velocity
v2
or the opposite.
UR10 170 User Manual
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