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Smooth motion?

pollux
pollux ✭
in RobotStudio
Hi, 

I'm sending positions over a socket to a IRB140 which is working great. I'm sending the x/y/z positions and then using MoveL to move the robot to the desired position. 

Though I was wondering if there is a way to make the robot move a bit more smooth but in such a way that it sill follows the points I'm giving it?  

In this video I'm trying to draw a smooth sin wave (starting around 0:12): https://www.flickr.com/photos/diederick/15160786114/ and you can see how it draws the wave stepwise. 

p.

Comments

  • Neily03
    Neily03 ✭✭✭
    edited November 2014
    Are you using 'zfine' for your zones?
  • pollux
    pollux ✭

    Hi Neily03, 

    Yes I'm using fine indeed. When I use e.g. z0 it's not creating the path I want it to create.

    p
  • soup
    soup ✭✭✭
    z5 or z10 deviate too much too?
  • Neily03
    Neily03 ✭✭✭
    pollux said:

    Hi Neily03, 

    Yes I'm using fine indeed. When I use e.g. z0 it's not creating the path I want it to create.

    p
    That's why your path is not smooth, the robot will momenterily stop when using a fine zone, the only way around it to use a larger zone.
  • pollux
    pollux ✭
    Hi Neily,

    Thanks. I guess in my situation there is no other way around it but I'll give it a try with a zone like z0. Maybe the result will be good enough.

    p.

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