smooth motion through discrete points

James_NC

Hello All,

My goal is to run an arbitrary series of motion commands, while logging the positions to a data file at a regular rate.  After that I want to repeat the same motion path at the same speed as the original data.

I have been able to log positions during the first pass using a binary file and timed interrupts at 10 Hz.  I am using the following code to recreate the motion:

VAR robtarget position1;
...

WHILE True DO
       ReadAnyBin FILEIO, position1;
       MoveL position1, v200, z50, tGripper;
       WAITTIME 0.1;    ! matched interrupt timer used to log positions.
ENDWHILE

This code IS following the original motion path at a very similar rate as the original data.  However, very small stop-starts are evidenced by subtle shaking of the tool, and I would like to remove these.

I realize I could try to reduce the WAITTIME to remove the start-stops, but I want to maintain as close to the original movement rate as possible.

Any suggestions?

Thanks in advance!
-James_NC

Henrik Berlin

Have to tried to deduce the speed from the logged positions and add that also to the re-created program?

 

  MoveL position1, speed1, z50, tGripper;

Either calculate it as the time derivative of the positions and change the speeddata accordingly, or, if possible, log the speed also.

 

As long as the WaitTime is there the robot will not move smoothly.