Basic Move Settings
Basic move settings of move-type Steps are used to set the velocity and motion type for the robot when it moves to the waypoint.
Pick or place
Setting this parameter facilitates checking the logic of the Mech-Viz project. Please select a proper option according to the on-site situation and ensure that the Step used to pick is placed before the Step used to place.
Unspecified |
Default value |
Pick |
Please select this option when the move-type Step is before “Vision Move”. |
Place |
Please select this option when the move-type Step is after “Vision Move”. |
Motion type
Joint move |
Joint motion, which guides the robot to move in a curved path. It is less likely to reach singularities in the path for joint motion.
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Linear move |
Linear motion, which guides the robot to move linearly.
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Singularity Avoidance
When the motion type is Linear move, enabling this function can simulate linear move by joint move with multiple segments, thus reducing singularity problems to a certain extent.
Parameters Setting
| Limit to Motion Segments | Specific Number | No Limit |
|---|---|---|
Feature |
Simulate linear move using joint move with a user-specified number of segments. |
The software calculates the number of segments needed to simulate linear move. |
Advantages |
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Disadvantages |
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| Parameter | Description |
|---|---|
Number of Segments |
The number of joint move segments specified by the user when the Limit to Motion Segments is set to Specific Number. |
Max Position Deviation |
The maximum allowable deviation of the new multi-segment joint motion path from the original linear motion path. The greater the max position deviation, the higher the success rate of singularity avoidance, and the lower the similarity between the actual trajectory and the straight line. |
Max Angle Deviation |
The maximum allowable angular deviation of the new multi-segment joint motion path from the original linear motion path. The greater the max angle deviation, the higher the success rate of singularity avoidance, and the lower the similarity between the actual trajectory and the straight line. |
Velocity & Acceleration
Velocity and acceleration determine how fast the robot can move. Usually, the set acceleration should be lower than the velocity. When the set acceleration is higher than the velocity, the robot will move in a choppy way.
| The velocities of Vision Move and its prior and subsequent Steps should be relatively low to ensure that the objects can be picked steadily. |
Blend radius
Usually, the default setting can be used.
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The blend radius refers to the distance between the target point and the point where the robot starts to turn. The larger the blend radius, the more smoother the robot motion transitions are. If the robot moves in a relatively small space, please set the blend radius to a smaller value.
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If the robot moves in a relatively large space without obstacles and the distance between two consecutive path segments is long, please set the blend radius to a larger value.