Universal Robots UR5e - Page 203

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
35.1: Joint space (MoveJ) vs. cartesian space (MoveL) movement and
blend.
UR5e 203 User Manual
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