152
Note: The radius of the arc is smaller than D
AB
and D
BC
.
(5) Radius = 0. There is no arc transition at the turn, it will be a sharp turn with no
deceleration, as shown in the figure below.
Note: If the motion of the robotic arm is a reciprocating linear motion, you need to set
radius=0. If the radius>0, the robotic arm may report a motion planning error.
(6) Radius <0. There is no arc transition at the turn, this speed will not be continuous
between this and next motion, as shown in the figure below, speed will decelerate to 0
at point B before moving to C.
Note: Radius <0 cannot realize continuous motion. If you need to plan a continuous
movement of the robotic arm, please make sure Radius≥0.
Wait = false
The wait in the "move (arc) line" command indicates whether it is necessary to wait
for the execution of this command before sending the next command.
Note: If you need to plan for speed continuous motion, make sure wait = false, to
buffer the commands to be blended.
Python example:
arm.reset(wait=True)
arm.set_pause_time(0.5)
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