each axis and predicting the motion behaviour of the robotic arm,
which is difficult to develop.
Operators who design the robotic arm motion path
must be qualified with the following conditions:
1. The operator should have a strong sense of
security
consciousness,
and
sufficient
knowledge on robotic arm operations.
2. The operator should have in-depth knowledge on
the robotic arm and understands the joint
motion mode and the linear motion mode.
3. The operator should have safety knowledge on
emergencies.
4. When planning the path for the robotic arm,
the risk assessment must be done and the
operator should be cautious.
2.1.2
Analysis of Robotic Arm Movement Mode
4 motion modes of the control box: (Python SDK: set_mode ())
● Mode 0: Position control mode.
In this mode, the robotic arm can execute a series of motion
commands (joint motion, linear motion, circular motion, etc.)
automatically planned by the control box, which is also the mode
that the control box enters by default after startup.
● Mode 1: Servoj mode.
In this mode, the robotic arm can accept joint position commands
sent at a fixed high frequency like 100Hz (Note: not a Cartesian
commands). The robotic arm responds immediately after receiving
each command and executes at the maximum speed. If the user can
complete the planning of the motion trajectory with smooth speed