2.2.2.2. Arc Linear Motion
Characteristics of Arc Linear Motion:
Arc linear motion (Lineb), inserting arc transitions between two straight
lines, is a way to plan the continuous movement of the robotic arm. The
following figure is a simple example of continuous motion using a
circular arc linear motion planning robotic arm.
Note: If you need to plan Lineb motion, you need to adjust the TCP speed
below 200mm/s for debugging, otherwise there will be a high security risk.
Blockly：
Key parameter description
Radius = 5
Radius = 5 in the "move (arc) line" command refers to setting the radius
of the transition arc between two straight lines R = 5mm, which is used
to achieve a smooth transition of the arc in a straight motion.
The parameters of Radius can be set as Radius> 0, Radius = 0, Radius = -1,
different parameters correspond to different trajectories.
(4) Radius> 0. For example, setting Radius = 5, the turning trajectory is
as shown in the black arc in the figure below, which can achieve a smooth
turning effect.
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