Blending between path segments
The following example illustrates blending from one motion segment to another motion segment with spatial reference to the parameters for blending to the start point of the motion segment according to the setting in the basic state:
- Motion segment 1: MotionSet fast, LIN, target position POSEVAR[1]
- Motion segment 2: BlendingDistance small, MotionSet slow, LIN, target position POSEVAR[2]
SRL program
Figure
[1] | Linear segment to position POSEVAR[1] |
[2] | Target position POSEVAR[2] |
[3] | Set "BlendingDistance Small" for blending to the path segment to the target position POSEVAR[2] |
[4] | Segment length * limitation percentage |
[5] | Limited blending distanceeffective |
[6] | Resulting symmetrical blending curve |
