User Manual

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Note: If you need to plan for speed continuous motion, make sure wait
= false, to buffer the commands to be blended.
2.2.2. Linear Motion and Arc Linear Motion
2.2.2.1. Linear Motion
Characteristics of Linear Motion
The concept of linear motion
• Stright linear motion between Cartesian coordinates (unit: mm),
the speed is not continuous between each command.
• Users can control the motion of the robotic arm based on the
base coordinate system and TCP coordinate system. The
trajectory of tool center point in the Cartesian space is a straight
line. Each joint performs a more complex movement to keep the
tool in a straight path. The TCP path is unique once the target
point is confirmed, and the corresponding posture in the
execution process is random. X, Y, and Z control the position of
TCP in base or tool coordinate system, in the unit of mm. While
Roll/Pitch/Yaw controls the TCP orientation in the unit of degree.
• Linear motion and circular linear motion belong to the Cartesian
space trajectory planning, which needs to be solved by inverse