Movement pattern (Interpolation teqnics)

In defining the target point, it is also important to specify the movement type in the robot programming. In general, there are 3 different types of movement: PtP, LIN, CIRC:

Robot interpolation - PTP - LIN - CIRC

PTP: The TCP is moving the fastest way to the target position.

LIN: The TCP moves within a straight line to the desired position.

CIRC: The TCP moves within a circular path.

The fastest movement pattern is the so called ´PTP´. But for accurate moving PTP is not applicable because no straight line is driven. The movement pattern ´Synchro PTP´ harmonizes the speed of the fast moving axis to the speed of the low moving axis. The movement patterns `LIN´ and ´CIRC ´require high computing power, because all drives of the axis have to be coordinated to each other.

Robotics - moving in Synchro PtP

Moving to reference position with tolerance- Why?

Tolerance of Position

In this picture as shown the point P₂ is not hidden exactly but achieved within a permitted tolerance.

Advantage: The robot has not to be slowed down completely. That implies less attrition and short-time cycle time.

Exercises - Robort movement patterns

Below you can see 4 different types of movement in which a robot can be driven:

Robotics moving pattern

In which line are movement types correctly labeled?

 Fig.1: Moving in PtP – Fig.2: Moving in CIRC –  Fig. 3: Moving in LIN –  Fig. 4: Moving TCP with tolerance

 Fig.1: Moving in PtP – Fig.2: Moving TCP with tolerance –  Fig. 3: Moving in LIN –  Fig. 4: Moving in CIRC

 Fig.1: Moving in LIN – Fig.2: Moving TCP with tolerance –  Fig. 3: Moving in CIRC –  Fig. 4: Moving in CIRC

 Fig.1: Moving in LIN – Fig.2: Moving in CIRC –  Fig. 3: Moving in PtP –  Fig. 4: Moving TCP with tolerance

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? A painting robot is to perform a reference run to the home position in a narrow work cell. Which type of movement should be avoided? Give reasons!