# How to create smooth robot motion for extrusion **URL:** \ **Category:** Technical Questions\ **Created:** [November 19, 2024, 10:38pm UTC](https://forum.universal-robots.com/t/how-to-create-smooth-robot-motion-for-extrusion/37075 "2024-11-19T22:38:51Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![abalalimoghaddam](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@abalalimoghaddam](https://forum.universal-robots.com/u/abalalimoghaddam)\ **Post date:** [November 19, 2024, 10:38pm UTC](https://forum.universal-robots.com/t/how-to-create-smooth-robot-motion-for-extrusion/37075/1 "2024-11-19T22:38:51Z")
I am trying to get a UR10e to follow an extrusion path created in grasshopper. The problem I am running into is that the movements between points is very jerky and robot shakes a lot while trying to follow this path. I think I might need to set blend radius but I do not yet fully understand the concept of it, so I am not sure how to calculate what blend radius I need. Do you think that is my problem, and do you have any tips or tricks to help me get past this issue? ![Here is the toolpath](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/6/6aa6912b008f738d61011e0981f47bab4c4b3a3f.jpeg) ![Here is the grasshopper section generating the URScript](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/d/d3cd8239ea4c491684d5585a6a9b31e1dee134fe.jpeg) Here is the top section of my URScript: ```auto def Program(): DefaultToolTcp = p[0, 0, 0, 0, 0, 1.5708] DefaultToolWeight = 0 DefaultToolCog = [0, 0, 0] DefaultSpeed = 0.1 DefaultZone = 0 popup("Continue?", title="Yan Program",blocking=True) set_tcp(DefaultToolTcp) set_payload(DefaultToolWeight, DefaultToolCog) movej([1.3388, -1.9581, -1.7061, -1.0482, 1.5708, 2.9096], a=3.1416, v=0.3142, r=DefaultZone) movel(p[0.36356, 0.78859, 0.3467, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.36279, 0.79335, 0.34706, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.36181, 0.79808, 0.34726, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.36062, 0.80277, 0.34731, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.35922, 0.8074, 0.3472, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.35762, 0.81196, 0.34693, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.35582, 0.81643, 0.34651, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.35376, 0.82078, 0.34608, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.35099, 0.82471, 0.34655, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) movel(p[0.348, 0.82849, 0.34696, 2.22144, 2.22144, 0], a=1, v=DefaultSpeed, r=DefaultZone) ``` ---
**Author:** ![francis](https://avatars.discourse-cdn.com/v4/letter/f/ac8455/32.png) [@francis](https://forum.universal-robots.com/u/francis)\ **Post date:** [November 20, 2024, 2:56am UTC](https://forum.universal-robots.com/t/how-to-create-smooth-robot-motion-for-extrusion/37075/2 "2024-11-20T02:56:29Z")
try to apply minimum blend first. maybe 0.1. see if makes the movement a bit smoother. if that fails, it seems to me you have a high density of points that it might be better to use servoj instead of movej/movel. ---
**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\ **Post date:** [November 20, 2024, 4:18pm UTC](https://forum.universal-robots.com/t/how-to-create-smooth-robot-motion-for-extrusion/37075/3 "2024-11-20T16:18:08Z")
MoveP is also better suited for extrusion applications as it guarantees the velocity is maintained as opposed to ramped up and down in a MoveL (without Blend radius) ---
**Author:** ![abalalimoghaddam](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@abalalimoghaddam](https://forum.universal-robots.com/u/abalalimoghaddam)\ **Post date:** [November 20, 2024, 7:16pm UTC](https://forum.universal-robots.com/t/how-to-create-smooth-robot-motion-for-extrusion/37075/4 "2024-11-20T19:16:47Z")
thank you for your suggestions. In the Robots grasshopper plugin there is no mention of blend radius but there is something called **Approximation Zone (Z)** which I am assuming is essentially the same concept. I set it to 2 and that made the movement a lot smoother. I will play around with the value and test to see where the good balance is between accuracy and smooth movement. ![Create Target component in Robots plugin](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/4/40a1a2ae12fae7570264812a72aec2db5bd2a5d6.png) In the create component I only see two options: **Joint (movej)** or **Linear (movel)**. Could someone tell me how can I lean about all these other modes that you are talking about? What is _MoveP_, _MoveL_ or **servoj** that you are speaking of? Is it possible to set those modes in grasshopper within the robots plugin? Thank you for your help! ---
**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\ **Post date:** [November 20, 2024, 9:24pm UTC](https://forum.universal-robots.com/t/how-to-create-smooth-robot-motion-for-extrusion/37075/5 "2024-11-20T21:24:06Z")
I’ma be real with you, I have no idea what grasshopper is or what I’m looking at in your pictures. I’m just talking about straight up URScript commands, which you can find here: [https://s3-eu-west-1.amazonaws.com/ur-support-site/234367/script\_directory\_PolyScope5.pdf](https://s3-eu-west-1.amazonaws.com/ur-support-site/234367/script_directory_PolyScope5.pdf) ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/3/3dc5ed4efc46403a841cd1b5149c00eaf13412f3.png)