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Note: If it is xArm5, roll and pitch must be set to roll = ± 180 ° and pitch = 0 °.
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: When the xArm firmware version≥1.6.0, 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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