Smooth and more optimized robot movement

Technical Questions
1

Very new to this software so apologies in advance if anything is unclear or if this has been already asked.

  1. Between robot waypoints and when changing from one movement method to another there are always pauses. Are these pauses the robot thinking for the next command or is there some way to eliminate these pauses to optimize cycle time.
  2. Any tips on finding the most optimal robot pathing to get to a given location or while navigating an area? Or is this more of a trial and error thing.

Thanks

2

Hello,
which robot series are you using?

  1. I think you should look into the “Blending” feature. These stops are normal if you leave the “Stop at this point” box checked (as in the screenshot).

  2. Personally, as long as the movement or trajectory isn’t satisfactory, I add or modify the waypoints.

Here’s a link that might be helpful if you’re using Polyscope version 5.24 (look from page 107): https://www.universal-robots.com/manuals/EN/PDF/SW5_24/Poly5_handbook_online/e-Series_Software_Handbook_en_Global.pdf

image
image1278Ă—797 65.4 KB

3

Thanks, I am using the UR12E. Additionally, the smaller the blend radius does that mean less deviation from path which means it will be slower? Just for my understanding does this apply when switching from different move types as well? For my second point, I assumed something similar.

4

The blend radius essentially just puts a circle of radius [blend_radius] at the taught waypoint. If the TCP enters within that circle, it considers the move complete and will start moving towards the next waypoint. It does this without decelerating, which is what makes the motion fluid. However, because it isn’t decelerating, it’s important to NOT blend into a Halt of any kind.

5

You still have problems with those “pauses”?

I don´t have any movement pauses, when changing movement types.
I use mostly moveP and sometimes it changes to moveL.
If you wan´t to have a low deviation from the waypoints, then you have to make a small blend radius.

You still can move fast, but the robot will then move jerky and probably start to wobble and it doesn´t look like a “healthy” movement…
And it can look like a small “pause”, when he moves exactly to a waypoint and has to change the direction by 90 degrees.

6

No, the blend radius resolved my problems I have been playing around with the values depending on the accuracy required during a movement.