2.2.2. Linear Motion and Arc Linear Motion
2.2.2.1. Linear Motion
Characteristics of Linear Motion
The concept of linear motion
Straight 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.