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The virtual motions for x, y and z in the first part can be seen as slaves that follows a virtual
master that describes the distance of the TCP motion at time t, see Figure 6.2. Then for each
cycle the master decides which value from the slaves that will be used for the inverse
kinematics.
Figure 6.2, shows TCP motion from A to B and the virtual master which describes the distance of this TCP motion.
There exists different predefined blocks in the EPAS-4 package library to create different
motions in a (x,y,z) coordinate system.
6.1 LINEAR INTERPOLATION
Linear interpolation is used when one want to move from a point A to a point B linearly. In
ELAU GmbH EPAS-4 robotic library this function is called MoveL.
Maximum velocity is determined by the user then is velocity- and position path calculated out
from this data. The velocity will be ramped up to its maximum value then ramped down to zero
where the path ends, see Figure 6.3.
Figure 6.3, Shows position- and velocity path for linear interpolation function MoveL in EPAS (13).
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