Hello, I did not really understand the difference between PTP and SPTP (Spline Point to Point) motion, also by reading the manual i did not understand the difference.
When I select a new program in KUKA the home position is always selected with a SPTP Motion. For what kind of motion I should select SPTP motion?
When I will reach from point A to point B with PTP or SPTP motion I think that there is no big difference in the motion?
If I see the picture, I see that a by using a PTP motion the robot guides the TCP along the fastest path to the end point. I understand that.
But what motion the robot makes when I am using SPTP between this two points? I think that should be the same? Or the SPTP is only a smoother motion? Or maybe I use SPTP only when I will reach more than two points continuously? So when moving from point A to B there is no difference beween SPTP and PTP
I will use a SPLINE motion when i will reach all points exactly and continuously, like in the kuka manual. So spline is also clear for me.
But the difference between PTP and SPTP is not clear for me.
Thanks for any help to understand it better.