Data Sheet

66
ⅴ) Set_PTP
The Set_PTP function determines 2 poses for the manipulator (initial and final)
by factoring in Trapezoidal Velocity Profile and receives velocity time and total time.
Initial and final pose are in rad and joint angle in mm or rad (x, y, z, roll, pitch, yaw).
When generating the trajectory it is recommended to factor in joint angles.
ⅵ) Set_LIN
The Set_LIN function generates a 3-point coordinates for the robot’s straight
trajectory. This factors in initial and final pose for Linear Euler Interpolation for
orientation.