Depending on the movement type (i.e., MoveL, MoveJ, or MoveP), different blend
trajectories are generated.
•
Blends in MoveP When blending in MoveP, the position of the blend follows a
circle arc at constant speed. The orientation blends with a smooth interpolation
between the two trajectories. You can blend a MoveJ or a MoveL into a MoveP.
In such a case, the robot uses the circular arc blend of MoveP, and interpolate
the speed of the two motions. You cannot blend a MoveP to a MoveJ or a
MoveL. Instead, the last waypoint of the MoveP is regarded as a stop point with
no blend. You cannot perform a blend if the two trajectories are at an angle close
to 180 degrees (reverse direction) because it creates a circular arc with a very
small radius which the robot cannot follow at constant speed. This causes a
runtime exception in the program which can be corrected by adjusting the
waypoints to cause a less sharp angle.
•
Blends involving MoveJ MoveJ blends cause a smooth curve in joint space.
This goes for blends from MoveJ to MoveJ, MoveJ to MoveL and MoveL to
MoveJ. The blend produces a smoother and faster trajectory than the
movements without a blend (see Figure 15.6). If velocity and acceleration
are used for specifying the velocity profile, the blend stays within the blend radius
during the blend. If using
time
instead of
velocity
and
acceleration
for specifying
the velocity profile of both motions, the blend trajectory follows the trajectory of
the original MoveJ. When both motions are time constrained, using blends does
not save time.
•
Blends in MoveL When blending in MoveL, the position of the blend follows a
circle arc at constant speed. The orientation blends with a smooth interpolation
between the two trajectories. The robot may decelerate on the trajectory before
following the circular arc to avoid very high accelerations (e.g., if the angle
between the two trajectories are close to 180 degrees).
Conditional Blend Trajectories
Description Blending enables the robot to smoothly transition between two trajectories, without
stopping at the waypoint between them.
Blending makes your robot program run faster because, when you create a smooth
transition between trajectories, you avoid slowing down an acceleration between
trajectories.
User Manual 215 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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