Skip to main content

Path Movement

In this Node, you can define a path by chaining Linear Paths and Circular Arcs. Circular Arcs can be defined as 3-Point Arcs, Tangent Arcs or Full Circles. Path movements have a constant Velocity with respect to the TCP which is desired in applications such as dispensing.

Path Movement Types​

There are four segment types for a Path Movement — Linear Path, 3-Point Arc, Tangent Arc and Full Circle.

In the diagrams below, the green dots are the Poses you set and the blue line is the resulting movement.

Linear Path​

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

Linear Path

1 current Pose · 2 Target Pose

3-Point Arc​

A 3-Point Arc is a smooth curve movement that joins the current Pose and the Target Pose going through an intermediate position. The orientation of the intermediate position is interpolated between the orientation of the current Pose and the Target Pose.

3-Point Arc

Tangent Arc​

A Tangent Arc only defines the End Pose of the Arc, the Arc itself is then interpolated between the current Pose (the Start Pose of the Arc) and the End Pose of the Arc.

Tangent Arc

1 current Pose, where the preceding movement (dashed) ends · 2 End Pose of the Arc

The Arc leaves the current Pose along the direction the Robot was already traveling — that tangent is what removes the need for an intermediate position.

Full Circle​

A Full Circle is defined by two intermediate positions in combination with the current position (which will be the start- and end-position of the circle). You also have the ability optionally to rotate the endeffector while processing the circle.

Full Circle

1 current Pose — both start and end of the circle · 2, 3 the two intermediate positions

Blending Radius​

On a Path Movement the Blending Radius behaves differently to the one on a Joint or Cartesian Movement. Path Movements are inherently smooth and aim to maintain a constant velocity. However, if the path includes sharp transitions between individual segments, the Robot may not be able to execute the trajectory.

The Blending Radius in the Path Movement Node applies a global smoothing to all transitions between segments. If your Robot is unable to follow the path, try reducing the velocity and increasing the Blending Radius.