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Chapter 3 Robot Motion

3-1

3.1 Absolute Motion and Relative Motion

3.1.1 Absolute Motion

An absolute motion is a motion to move a taught position.

An absolute motion always moves to a taught position without being affected

by the previous motion.

The commands to execute an absolute motion are as follows.

APPROACH, MOVE, GOHOME, DRIVEA

3.1.2 Relative Motion

A relative motion is a motion to move by a taught distance from the current

position.

Since a relative motion sets its reference to the current position of the result of

executing the previous motion command, the previous motion command

affects the motion.

The commands to execute a relative motion are as follows.

DEPART, DRAW, DRIVE, ROTATE, ROTATEH

3.1.3 Absolute Motion and Relative Motion Examples

Here are two example programs to move the robot from the current position P1

to point P3 through point P2.

“MOVEMENT1” is expressed with an absolute motion.

“MOVEMENT2” is expressed with an absolute motion and a relative motion. If

you execute them, both programs perform the same motion, as shown in Fig.

3-3.

PROGRAM MOVEMENT1

TAKEARM

MOVE L, P2

MOVE L, P3

END

Fig. 3-1 Absolute Motion Example

PROGRAM MOVEMENT2

TAKEARM

MOVE L, P2

DRAW L, V3 'V3 is the relative distance of P2 and P3.

END

Fig. 3-2 Relative Motion Example

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