Movements with KUKA robots

Point-to-Point and Linear Movements using KUKA Robots

Point-to-Point (PTP) Movement

• Definition: PTP movement involves the robot moving from its current position to a target position along a path that is not necessarily linear. The movement is optimized for speed rather than following a specific path.
• Use Case: PTP is used when the specific path is not crucial, and the focus is on reaching the destination as quickly as possible.

Linear (LIN) Movement

• Definition: LIN movement requires the robot to move along a straight line from its current position to the target position. This ensures a precise and predictable path.
• Use Case: LIN is used when the path between points needs to be controlled and exact, such as in welding, painting, or precise assembly operations.

Termination Types: CONT vs. NON-CONT

Continuous (CONT)

• Behavior: In CONT (continuous) termination, the robot begins to decelerate before reaching the end of the current motion command and simultaneously starts to accelerate towards the next motion command.
• Effect on Movement: This results in a smoother transition between movements, reducing jerks and allowing for a faster overall operation as the robot does not come to a complete stop at each point.
• Use Case: Suitable for tasks requiring a continuous motion without abrupt stops, such as spray painting or gluing where consistent speed is essential.

Non-Continuous (NON-CONT)

• Behavior: In NON-CONT termination, the robot moves to the exact end point of each command before starting the next movement.
• Effect on Movement: This causes the robot to stop at each intermediate point, leading to more precise positioning but slower overall operation due to the start-stop nature of the movement.
• Use Case: Ideal for applications where precise positioning at each point is critical, such as spot welding or assembly operations that require accurate placement.

PTP, LIN movements with KUKA robots / CONT termination types - YouTube