Joint Movement

In this Node, you can define a set of Joint Poses that the Robot can move to. This can be done by hand-guiding the Robot to the relevant joint configurations and pressing Apply current Pose at each of them, or by manually entering the Joint Angles for every joint.

You can select between point-to-point motion and linear motion.

Approach Mode

There are two options for the Approach Mode of Joint Movements — Linear and Point-to-Point.

Linear

A Linear Movement is a movement on a straight line, the shortest connection between the current Pose and the Target Pose.

Point-to-Point

On Point-to-Point Movements, all drive modules will simultaneously adjust to their target angles, without respecting the actual movement of the Robot's TCP (Tool Center Point).

Blending Radius

The Blending Radius defines how smoothly the Robot transitions between two Poses. Instead of stopping at each point, the Robot follows a continuous path by grinding over the corners within the specified radius.

It is important to note that the Robot could run into acceleration limits, in which case the blending radii will be ignored. To compensate for this and to facilitate blending between points you should reduce the acceleration and velocity of your movements.

Acceleration limits are reached most easily with a Point-to-Point Approach Mode, so that is where blending radii are dropped most often.