CDRFLEx.movesj

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 joint space. The input velocity/acceleration means the maximum velocity/acceleration in the path, and the acceleration and deceleration during the motion are determined according to the position of the waypoint.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	Float[MAX_SPLINE_POINT][6]	-	Maximum 100 waypoint list
nPosCount	unsigned char	-	Number of valid waypoints
fTargetVel	float/float[6]	-	Velocity
fTargetAcc	float/float[6]	-	Acceleration
fTargetTime	float	0.f	Reach Time [sec]
eMoveMode	enum.MOVE_MODE	MOVE_MODE_ ABSOLUTE	Refer to the Definition of Constant and Enumeration Type

Note

When fTargetTime is specified, values are processed based on fTargetTime, ignoringfTargetVel 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.

Return

Value	Description
0	Error
1	Success

Example

CPP

// CASE 1 : Absolute coordinate input (mod=MOVE_MODE_ABSOLUTE)
float jpos[4][6];
float jvel=10;
float jacc=10;
int jposNum = 4;
jpos[0][0]=0; jpos[0][1]=0; jpos[0][2]=-30; jpos[0][3]=0; jpos[0][4]=-30; jpos[0][5]=0;
jpos[1][0]=90; jpos[1][1]=0; jpos[1][2]=0; jpos[1][3]=0; jpos[1][4]=0; jpos[1][5]=0;
jpos[2][0]=0; jpos[2][1]=0; jpos[2][2]=-30; jpos[2][3]=0; jpos[2][4]=-30; jpos[2][5]=0;
jpos[3][0]=-90; jpos[3][1]=0; jpos[3][2]=0; jpos[3][3]=0; jpos[3][4]=0; jpos[3][5] = 0;
drfl.movesj(jpos, jposNum, jvel, jacc);
// Moves the spline curve that connects the absolute waypoints defined in the jpos
// with a maximum velocity of 10(deg/sec) and maximum acceleration of 10(deg/sec2)

// CASE 2 : Relative angle input (mod=MOVE_MODE_RELATIVE)
float jpos[4][6];
float jvel=10;
float jacc=10;
int jposNum = 4;
jpos[0][0]=0; jpos[0][1]=0; jpos[0][2]=-30; jpos[0][3]=0; jpos[0][4]=-30; jpos[0][5]=0;
// Start Position + jpos[0]
jpos[1][0]=90;	jpos[1][1]=0; jpos[1][2]=30; jpos[1][3]=0; jpos[1][4]=30; jpos[1][5]=0;
// Start Position + jpos[0] + jpos[1]
jpos[2][0]=-90; jpos[2][1]=0; jpos[2][2]=-30; jpos[2][3]=0; jpos[2][4]=-30; jpos[2][5]=0;
// Start Position + jpos[0] + jpos[1] + jpos[2]
jpos [3][0]=-90; jpos [3][1]=0; jpos[3][2]=30; jpos[3][3]=0; jpos[3][4]=30; jpos[3][5]=0;
// Start Position + jpos[0] + jpos[1] + jpos[2] + jpos[3]
drfl.movesj(jpos, jposNum, jvel, jacc, time, MOVE_MODE_RELATIVE);
// Moves the spline curve that connects the relative waypoints defined in the jpos
// with a maximum velocity of 10(deg/sec) and maximum acceleration of 10(deg/sec2)