6
1.6.9 Logic................................................................................................129
1.6.10 Loop.............................................................................................. 130
1.6.11 Math.............................................................................................. 131
1.6.12 Text................................................................................................131
1.6.13 Variable......................................................................................... 132
1.6.14 Function.........................................................................................133
1.6.15 Set & Edit Motion Coordinates.....................................................134
1.6.16 Path Planning Guidelines.............................................................. 135
1.7 Python IDE.................................................................................................135
1.7.1 Create a New Project........................................................................136
1.8 Recording................................................................................................... 137
2. xArm Motion Analysis...........................................................................................140
2.1 Robotic Arm Motion Mode and State Analysis.......................................... 141
2.1.1 The Motion Mode of the Robotic Arm........................................... 141
2.1.2 Analysis of Robotic Arm Movement Mode...................................143
2.1.3 Analysis of the Motion Status of the Robotic Arm.........................144
2.2. Motion of the Robotic Arm.........................................................................145
2.2.1. Joint Motion............................................................................................. 145
2.2.2. Linear Motion and Arc Linear Motion.............................................149
2.2.3. Circular and Arc Motion.................................................................. 153
2.3. xArm5 Motion Characteristics...................................................................156
2.4. Singularity................................................................................................... 156
3. Typical Examples...................................................................................................158
3.1. The Use of xArm Vacuum Gripper.............................................................158
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