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.
UR16e 212 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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