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XPS-Q8 Controller
points are only needed to define the start and end conditions of the trajectory. Because
the second line (0, 20, 0) is not equal to zero (0, 0, 0), all points that the motion group
will hit during the execution of the trajectory are reduced by this value from the
physical starting position of the motion group.
The original data file is (except for the tabs that are only added for better readability):
-5,
19.365,
0,
20,
5,
19.365,
10,
17.321,
15,
13.229,
20,
0,
15,
-13.229,
10,
-17.321,
5,
-19.365,
0,
-20,
-5,
-19.365,
-10,
-17.321,
-15,
-13.229,
-20,
0,
With this data file, the real trajectory points relative to the physical start position of the
motion group are (first and last lines are eliminated because the motion group will not
hit these points and the values from the second column are reduced by 20 as the first
line was (0, 20, 0)):
0,
0,
5,
-0.635,
10,
-2.679,
15,
-6.771,
20,
-20,
15,
-33.229,
10,
-37.321,
5,
-39.365,
0,
-40,
-5,
-39.365,
-10,
-37.321,
-15,
-33.229,
-20,
-20,
Figure 32: Executing the above normalized trajectory data file
with the Catmull-Rom spline algorithm.
99
-1
-15,
13.229,
0
-10,
17.321,
1
-5,
19.365,
2
0,
20,
3
5,
19.365,
4
10,
17.321,
5
15,
13.229,
6
20,
0,
7
15,
-13.229,
8
10,
-17.321,
9
5,
-19.365,
10
0,
-20,
11
5,
-19.365,
12
0
-15,
-6.771,
1
-10,
-2.679,
2
-5,
-0.635,
3
0,
0,
4
5,
-0.635,
5
10,
-2.679,
6
15,
-6.771,
7
20,
-20,
8
15,
-33.229,
9
10,
-37.321,
10
5,
-39.365,
11
0,
-40,
12
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
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