Hello all,
I would like to tie 2 relative movements together with a smooth transition between points. If I am using lin_rel to travel in a straight line, but I want to break up the movement into 2 sections... is there a good way to do this without the robot stopping at the midpoint? Example code below:
...
lin_rel {y 100}
lin_rel {y 100}
...
I tried the above code, but the robot stops at the 100mm mark before continuing on to the next 100mm end point. I realize that I could just use lin_rel {200} instead, but I want to see if there is a way to do this. I know that in Robot Programming book 1 from KUKA College, if you teach 3 SLIN points in a straight line, it will pass right through the midpoint without decelerating. Is there a way to do this with relative movement as well? Would I need to use a constant velocity command? Can you use constant velocity with lin_rel? Could I use point approximation to do this?
Thanks for your help!