Chapter 18: Robot Programming – Motion Programming (Point-to-Point, Continuous Path)
Abstract In robot programming, motion programming involves defining how a robot moves, with two primary approaches: point-to-point (PTP) and continuous path (CP). PTP focuses on moving between specific points, while CP allows for precise path following, including curves . Point-to-Point (PTP) Motion: Definition: PTP motion involves moving a robot from one specific point to another, often in a straight line, where the path taken is not as critical as the end position. Applications: Suitable for tasks like pick-and-place operations, where the robot needs to move to a specific location to grasp or release an object. Programming: The robot is programmed with the coordinates of the starting and ending points, and it moves directly between them. Example: A robot moving from one assembly station to another to pick up a part and place it in a different station. Continuous Path (CP) Motion: Definition: CP motion allows the robot to follow a pre-defined path, which...