UFactory XARM User Manual page 198

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Key parameter description
Radius = 5
Radius = 5 in the "move (arc) line" command refers to setting the radius
of the transition arc between two straight lines R = 5mm, which is used
to achieve a smooth transition of the arc in a straight motion.
The parameters of Radius can be set as Radius> 0, Radius = 0, Radius = -
1, different parameters correspond to different trajectories.
(4) Radius> 0. For example, setting Radius = 5, the turning trajectory is as
shown in the black arc in the figure below, which can achieve a smooth
turning effect.
Note: The radius of the arc is smaller than D
and D
.
AB
BC
(5) Radius = 0. There is no arc transition at the turn, it will be a sharp turn
198

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