Robot motion parameters explained with light

Robot controllers offer a few types of interpolated motion: joint, linear, circular (and I newer models also a spline). Differences between them are quite easy to understand, but the human eye is often too slow to notice the difference during performing path on a real robot.

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Robotic Painting with Light

Students at Taubmann College did a great job to visualise how different parameters change the trajectory of a robot’s motion: point-to-point (PTP), linear (LIN), circular (CIR), and spline (SPL).

They also documented differences in motion related with KUKA C_PTP, C_DIS, C_VEL, and C_ORI approximation settings. You can see the differences in the picture below.


Light painting is a great and simple idea to help understand how the robot works. You can learn more about this experiment here.

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