CDRFLEx.movesx

Features

This is a function for moving the robot along a spline curve path that connects the current position to the target position (the last waypoint) via the waypoints of the task space. The input velocity/acceleration means the maximum velocity/acceleration in the path, and the constant velocity motion is performed with the input velocity according to the condition if the option for constant speed motion is selected.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float [MAX_SPLINE_ POINT][6]	-	Maximum 100 waypoint information
nPosCount	unsigned char	-	Number of valid waypoint
fTargetVel	float[2]	-	Linear Velocity, Angular Velocity
fTargetAcc	float[2]	-	Linear Acceleration, Angular Acceleration
fTargetTime	float	0.f	Reach Time [sec]
eMoveMode	enum.MOVE_MODE	MOVE_MODE_ ABSOLUTE	Refer to the Definition of Constant and Enumeration Type
eMove Reference	enum.MOVE_REFERENCE	MOVE_REFERENCE_BASE	Refer to the Definition of Constant and Enumeration Type
eVelOpt	enum.SPLINE_VELOCITY_OPTION	SPLINE_VELOCITY_OPTION_DEFAULT	Refer to the Definition of Constant and Enumeration Type

Note

If an argument is inputted to fTargetVel (e.g., fTargetVel ={30, 0}), the input argument corresponds to the linear velocity of the motion, while the angular velocity is determined proportionally to the linear velocity.
If an argument is inputted to fTargetAcc (e.g., fTargetAcc = {60, 0}), the input argument corresponds to the linear acceleration of the motion, while the angular acceleration is determined proportionally to the linear acceleration.
If fTargetTime is specified, values are processed based on fTargetTime, ignoring fTargetVel and fTargetAcc .
When eMoveMode is MOVE_MODE_RELATIVE, each pos of the position list is defined as a relative coordinate for the preceding pos. (If position list=[q1, q2, ...,q(n-1), q(n)], q1 is the relative angle of the starting point, while q(n) is the relative coordinate of pq(n-1))
This function does not support online blending of previous and subsequent motions.

Caution

The constant velocity motion according to the distance and velocity between the input waypoints cannot be used if the “SPLINE_VELOCITY_OPTION_CONST” option (constant velocity option) is selected for eVelOpt, and the motion is automatically switched to the variable velocity motion (eVelOpt =SPLINE_VELOCITY_OPTION_DEFAULT) in that case.

Return

Value	Description
0	Error
1	Success

Example

CPP

// CASE 1 : Moves absolute coordinate standard (mod= MOVE_MODE_ABSOLUTE)
float xpos[4][6];
int xposNum = 4;
float tvel={ 50, 100 };
float tacc={ 50, 100 }; 
xpos[0][0]=559; xpos[0][1]=434.5; xpos[0][2]=651.5; 
xpos[0][3]=0; xpos[0][4]=180; xpos[0][5]=0;
xpos[1][0]=559; xpos[1][1]=434.5; xpos[1][2]=251.5; 
xpos[1][3]=0; xpos[1][4]=180; xpos[1][5]=0;
xpos[2][0]=559; xpos[2][1]=234.5; xpos[2][2]=251.5; 
xpos[2][3]=0; xpos[2][4]=180; xpos[2][5]=0;
xpos[3][0]=559; xpos[3][1]= 234.5; xpos[3][2]=451.5; 
xpos[3][3]=0; xpos[3][4]=180; xpos[3][5]=0;
drfl.movesx(xpos, xposNum, tvel, tacc, 0, MOVE_MODE_ABSOLUTE);
     // Moves the spline curve that connects the waypoints defined in the xpos 
     // with a maximum velocity of 50, 50(mm/sec, deg/sec) and maximum acceleration of 100, 100(mm/sec2,
     // deg/sec2)

// CASE 2 : Moves relative coordinate standard (mod= MOVE_MODE_RELATIVE)
float xpos[4][6];
int xposNum = 4;
float tvel={ 50, 100 };
float tacc={ 50, 100 }; 
xpos[0][0]=0; xpos[0][1]=400; xpos[0][2]=0; 
xpos[0][3]=0; xpos[0][4]=0; xpos[0][5]=0;
// Homogeneous transformation of xpos[0] from the start position → x0
xpos[1][0]=0; xpos[1][1]=0; xpos[1][2]=-400; 
xpos[1][3]=0; xpos[1][4]=0; xpos[1][5]=0;
// Homogeneous transformation of xpos[1] from x0 → x1
xpos[2][0]=0; xpos[2][1]=-200; xpos[2][2]=0; 
xpos[2][3]=0; xpos[2][4]=0; xpos[2][5]=0;
// Homogeneous transformation of xpos[2] from x1 → x2
xpos[3][0]=0; xpos[3][1]=0; xpos[3][2]=200; 
xpos[3][3]=0; xpos[3][4]=0; xpos[3][5]=0;
// Homogeneous transformation of xpos[3] from x2 → x3
drfl.movesx(xpos, xposNum, tvel, tacc, 0, MOVE_MODE_RELATIVE);
	// Moves the spline curve that connects the waypoints defined in the xpos
// with a maximum velocity of 50, 50(mm/sec, deg/sec) and maximum acceleration of 100,                             
// 100(mm/sec2, deg/sec2)