Thank you for reply my issue under khi_robot project.#https://github.com/Kawasaki-Robotics/khi_robot/issues/48 As we talk before, I learned this project and know how you handle the trajectory now.
I know what you mean by "Kawasaki's CP (Continuous path) motion", and it's the same way that I handle the trajectory data with you : send the path and execute them in order, while at the last point insert a "break" statement.And actually there still has a little stop between every two point.
For example:
Loop execute this program, between #test_point[0] and #test_point[1], there is a little stop, even if I increase ACCURACY from 10 to 100, the stop will become not significant but still has.Same in other motion step.The motion is different from 0->1->2->3->4->5->6 and 6->0.This is so called "CP motion 2" in AS-language manual.
But in our program, there is a little difference when execute motion,it more like:
FOR index = 0 TO 10JMOVE #test_point[index]END
There is a "END" statement after every JMOVE, at this time, even I increase the ACCURACY parameter, the stop is still significant.This is so called "Standard CP motion" in AS-language manual.
So I wonder why the video clip Tetrisrobot is so fluid.
I don't know whether I describe the question clearly, I can send you videos if you need.
Thank you for reply my issue under khi_robot project.#https://github.com/Kawasaki-Robotics/khi_robot/issues/48 As we talk before, I learned this project and know how you handle the trajectory now. I know what you mean by "Kawasaki's CP (Continuous path) motion", and it's the same way that I handle the trajectory data with you : send the path and execute them in order, while at the last point insert a "break" statement.And actually there still has a little stop between every two point. For example:
POINT #test_point[0] = #PPOINT(90, 0, -90, 0, -90, 0)POINT #test_point[1] = #PPOINT(75, 0, -90, 0, -90, 0)POINT #test_point[2] = #PPOINT(60, 0, -90, 0, -90, 0)POINT #test_point[3] = #PPOINT(45, 0, -90, 0, -90, 0)POINT #test_point[4] = #PPOINT(30, 0, -90, 0, -90, 0)POINT #test_point[5] = #PPOINT(15, 0, -90, 0, -90, 0)POINT #test_point[6] = #PPOINT( 0, 0, -90, 0, -90, 0)JMOVE #test_point[0]JMOVE #test_point[1]JMOVE #test_point[2]JMOVE #test_point[3]JMOVE #test_point[4]JMOVE #test_point[5]JMOVE #test_point[6]Loop execute this program, between #test_point[0] and #test_point[1], there is a little stop, even if I increase ACCURACY from 10 to 100, the stop will become not significant but still has.Same in other motion step.The motion is different from 0->1->2->3->4->5->6 and 6->0.This is so called "CP motion 2" in AS-language manual.
But in our program, there is a little difference when execute motion,it more like:
FOR index = 0 TO 10JMOVE #test_point[index]ENDThere is a "END" statement after every JMOVE, at this time, even I increase the ACCURACY parameter, the stop is still significant.This is so called "Standard CP motion" in AS-language manual.
So I wonder why the video clip Tetrisrobot is so fluid.
I don't know whether I describe the question clearly, I can send you videos if you need.