Installation manual

Chapter 6 Programming
6-12
Tip Position/Orientation Interpolation Method
This method calculates the tip position/orientation interpolation and controls the
tip to the input target position/orientation.
This method interpolates the velocity command to form a letter “S” shape.
The motion velocity, adjusting to the position/orientation default velocity, is
interpolated to form a letter “S” shape.
Start-up (acceleration) time
Uniform Velocity
Acceleration: ω
Velocity: ｖ
Position/orientaion
T=[NOAP]
Shutdown (deceleration) time
Target Position/Orientation
Position/Orientation Default Velocity