Blend Parameters
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 parameters Apart from the waypoints, multiple parameters will influence the blend
trajectory.
•
the blend radius (r)
•
the initial and final speed of the robot (at positions p1 and p2 ,
respectively)
•
the movement time (e.g. if setting a specific time for a trajectory this
will influence the initial/final speed of the robot)
•
the trajectory types to blend from and to (MoveL, MoveJ)
34.1:
Blend over
(WP_2)
with radius
(r)
, initial blend position at
p1
and final blend position at
p2
.
(O)
is an obstacle.
UR5e 201 User Manual
Copyright © 2009–2023 by UniversalRobotsA/S. All rights reserved.
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