The types of robot actions can be mainly divided into joint actions, linear actions, A-arc actions, and C-arc actions, each of which has its specific role and application scenarios:
1. Joint Motion (J):
Joint motion is a type of action in which a robot moves to a specified position by independently controlling the angles of each joint axis. In joint movements, robots do not care about the trajectory from the starting point to the target point, but directly adjust the angles of each axis to achieve the target position.
Function: Joint movements are suitable for situations where the robot needs to be quickly moved to a certain position without considering the path. They are commonly used for positioning the robot before starting precise operations or in rough positioning situations where trajectory control is not required.
2. Linear Motion (L):
Linear action refers to the precise movement of a robot from one point to another along a linear path. In linear motion, the end effector (TCP) of the robot tool will follow a linear trajectory, even if the trajectory is non-linear in joint space.
Function: Linear motion is commonly used in situations where precise operations need to be performed along a straight path, such as welding, cutting, painting, etc., because these operations often require the tool end to maintain a constant direction and position relationship on the work surface.
3. Arc Motion (A):
A curved motion refers to a way of performing circular motion through an intermediate point (transition point). In this type of action, the robot will move from the starting point to a transition point, and then draw an arc from the transition point until the endpoint.
Function: The A arc action is commonly used in situations where arc path control is required, such as certain welding and polishing tasks, where the selection of transition points can optimize motion smoothness and speed.
4. Circular Arc Motion (C):
The C arc action is a circular motion accomplished by defining the starting and ending points of an arc, as well as an additional point (passing point) on the arc. This method allows for more precise control of the arc path, as it does not rely on transition points like the A-arc action.
Function: The C arc action is also suitable for tasks that require arc trajectories, but compared to the A arc action, it can provide more precise arc control and is suitable for precision machining tasks with strict requirements for arc paths. Each type of action has its specific advantages and applicable scenarios, and when programming robots, it is necessary to choose the appropriate action type based on specific application requirements.
Joint movements are suitable for fast positioning, while linear and circular movements are suitable for precise operations that require path control. By combining these action types, robots can complete complex task sequences and achieve high-precision automated production.
Post time: Jul-29-2024
