Interpolation

The robot motion control creates a profile of the motor setpoint positions for all operating states of the kinematic model. The motion path is generated by means of path interpolation. The target is given in Cartesian coordinates.

Path interpolation

Path interpolation generates a geometrically defined path of the translational and rotary degrees of freedom.

The robot tool moves along a path defined in space consisting of straight lines or circular arcs and blending curves. For the transitions between 2 straight segments and/or circular arc, you can define a rounding of the path (blending).

PTP interpolation

During PTP interpolation, the joint axes are moved synchronously to the joint axis values in the target position. Application cases for PTP interpolation:

• Changing the constellation in program mode
• Moving in or near singularities
• Alignment of joint axes when using a kinematic model with more joint axes than Cartesian degrees of freedom or without inverse kinematics transformation prior to Cartesian interpolation (e.g. JOG_CART, LIN, CIRC).
• Approaching a clearly defined position at the beginning of an SRL program (constellation and joint axis phases)
• Moving at maximum permissible speed of the joint axes