Universal Robots UR16e

Example: Blending
in a pick and place
application
The robot starts at waypoint 1 (WP_1), and it needs to pick up an object at
waypoint 3 (WP_3).
To avoid collisions with the object and other obstacles , the robot must
avoid (O) by using waypoint 2 (WP_2).
Three waypoints are introduced to create a path that fulfills the
requirements.
WP_1
WP_2
WP_3
O
32.1:(WP_1) : initial position, (WP_2) : via point, (WP_3) : pick up
position, (O) : obstacle.
Without configuring other settings, the robot will make a very brief but full
stop at each waypoint, before continuing the movement.
For this task a stop at (WP_2) is not optimal since a smooth turn would
require less time and energy while still fulfilling the requirements. It is even
acceptable that the robot does not reach (WP_2) exactly, as long as the
transition from the first trajectory to the second trajectory happens near this
position.
The stop at (WP_2)can be avoided by configuring a blend for the
waypoint.
This allows the robot to calculate a smooth transition into the next
trajectory.
The primary parameter for the blend is a radius.
When the robot is within the blend radius of the waypoint, it can start
blending and deviate from the original path. This allows for faster and
smoother movements, as the robot does not need to decelerate and re-
accelerate.
UR16e 208 User Manual
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