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2.1 Robotic Arm Motion Mode and State Analysis
2.1.1 The Motion Mode of the Robotic Arm
Motions of the robotic arm: joint motion, linear motion, linear circular motion,
circular motion, servoj motion and servo_cartesian motion.
The following motions are in position mode (Please refer to
【
Robot Movement &
Status Analysis】):
●
Joint Motion: to achieve the point-to-point motion of joint space (unit:
degree/radian), the speed between each command is discontinuous.
● Linear Motion: to achieve linear motion between Cartesian coordinates (unit:
mm), the speed between each instruction is discontinuous.
● Arc Linear Motion: to achieve linear motion between Cartesian coordinates (unit :
mm), inserting an arc between two straight lines for a smooth transition, and the
speed between each command is continuous.
● Circular Motion: Circular motion calculates the trajectory of the spatial circle
according to the three-point coordinates, the three-point coordinates are starting
point, parameter 1 and parameter 2.
The following motion modes are in servoj mode:
●
Servoj motion: move to the given joint position with the fastest speed (180°/s)
and acceleration (unit: degree/radian). This command has no buffer, only execute
the latest received target point, and the user needs to enter the servoj mode to use.
In servoj mode, the maximum receiving frequency of the control box is 250Hz
(the maximum receiving frequency of the version before 1.4.0 is 100Hz). If the
frequency of sending commands exceeds 250Hz, the redundant commands will
be lost. The xArm-Python-SDK interface function we provide also reserves the
speed, acceleration and time settings, but they will not work at present. The
suggested way of use: If you want to plan your track, you can use this command
to issue a smoothed track point with interpolation at a certain frequency
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