Acceleration and Motion Smoothing
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Revision as of 12:58, 9 July 2018 by Peter (talk | contribs) (Created page with "=Acceleration and Smoothing= file:MotionSmoothing.png Motion commands are adapt to follow the joint accelerations. This can be done for a single motion command, but also f...")
Acceleration and Smoothing
File:MotionSmoothing.png Motion commands are adapt to follow the joint accelerations. This can be done for a single motion command, but also for a combination of up to 10 commands. Then it is also possible to smooth the corners. This allows the robot to go through the corner with a remaining velocity. If there is not corner smoothing active the robot stops at every corner for a short moment. This leads to a more abrupt motion.
Parameter: • Acc: Percentage of the possible acceleration, 0 .. 100 • Smooth: Scop of smoothing in percent, 0..100
Non-motion commands like “Wait” or “DOut” interrupts the smooting of a motion set. So if a very short wait (e.g. 0.1s) is inserted between two motion commands, there will be no smoothing.
