Introduction
With the spline path command, it is possible to execute a movement based on a defined curve, which is advantageous for avoiding collisions or for gluing applications, for example.
A normal Point-to-Point movement , on the other hand, only defines the end position.
Pros
- Better visualisation of the running process --> Better possibility for process monitoring (U)
- Can be used as a collision avoidance tool. Instead of teaching many interpolation points to avoid an obstacle, the obstacle can be avoided via a defined complex path.
Application
A spline is a function that consists of polynomials (degree n) in pieces and for which certain conditions apply at the points where two pieces meet (interpolation points). Depending on the degree of the polynomials and the conditions set, different types of splines are obtained.
- (Free) cubic spline: 3rd degree polynomials, 2 times continuously differentiable. Always goes exactly through the support points!
- B-spline (order k): Polynomials of degree k-1. Usually does not pass through the grid points!
A preview of the points and movement can be displayed using the toggle button.
