Universal Robots UR3e

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.
Blend
Trajectories
WP_1
WP_2
WP_3
WP_1
WP_2
WP_3
32.1: Joint space (MoveJ) vs. cartesian space (MoveL) movement and blend.
UR3e 210 User Manual
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