Effects of using alternative commands on the robot movements?

steven20

Referring to the image attached, what would happen if the 2 border sides shown in oranges were drawn with joint interpolation commands (i.e. MoveJ) rather than the linear interpolation (i.e. MoveL) commands used in the program? Why would the robot move in that certain manner using joint interpolation for those particular trajectories?

And the same questions if the 2 borders shown in grey were drawn with joint interpolation commands rather than the linear interpolation.

I am very new at all this so any help is greatly appreciated.

Thank you

Steve

Johannes Weiman

Hi Steve,

When using joint interpolation, the joint values are interpolated linearly from one target to the next. This results in a curved trajectory of the TCP, in this case something like the attached image.

If linear movement is not required, joint movement is usually more efficient (e.g. faster, uses less energy etc.).

Regards,
Johannes