Class PtpMotionParam

Nested Relationships

Nested Types

Class Documentation

class PtpMotionParam

An extended class that makes it easier to use the kinematics::PTPParam class that defines point-to-point (PTP) motion.

class PtpJogParam : public PtpMotionParam::PtpBaseMotionParam

Motion parameter class for joint jogging in Point-to-Point (PTP) mode.

Defines parameters for manual joint control and teaching operations. This class specializes in:

  • Individual joint control

  • Manual teaching operations

  • Joint-specific movements

  • Continuous joint motion

Key features:

  • Individual joint selection

  • Direction control (positive/negative)

  • Speed control for each joint

  • Safety-limited movement

  • Real-time motion control

Common applications:

  • Robot teaching

  • Joint calibration

  • Maintenance operations

  • Position verification

  • Manual joint adjustment

Safety features:

  • Velocity limiting

  • Joint limit checking

  • Emergency stop support

  • Direction verification

Remark

Joint jog operations are fundamental for:

  • Manual robot teaching

  • System maintenance

  • Joint-specific testing

  • Calibration procedures

See also

PTPParam

See also

RobotMotionProfile

Warning

Users should be trained in joint control before using jog operations, as improper use can cause unexpected robot movement

Public Functions

PtpJogParam(const kinematics::RobotParam &robotParam, const RobotMotionProfile &profile)

Generate PTP jog motion.

Generate PTP jog motion parameter.

Parameters:

  • robotParam – [in] Parameter of the robot

  • profile – [in] Motion profile parameter of the robot

PtpJogParam(const kinematics::RobotParam &robotParam, const RobotMotionProfile &profile, const double (&targetDirection)[kinematics::constants::MAX_NUMBER_OF_JOINT])

Generate PTP jog motion.

Generate PTP jog motion parameter which starts from current joint position to given target joint position.

Parameters:

  • robotParam – [in] Robot parameter structure

  • profile – [in] Motion profile parameter of the robot

  • targetDirection – [in] Target joint direction

class PtpMovParam : public PtpMotionParam::PtpBaseMotionParam

Motion parameter class for relative Point-to-Point (PTP) movements.

Defines parameters for incremental joint-space movements. This class specializes in:

  • Incremental joint motion

  • Relative position changes

  • Distance-based movement

  • Differential joint control

Key features:

  • Relative joint position changes

  • Independent joint motion control

  • Incremental movement planning

  • Dynamic position updates

  • Motion limit validation

Common applications:

  • Small adjustments to positions

  • Repetitive movements

  • Pattern-based motions

  • Incremental process steps

Advantages:

  • More precise control over movement distances

  • Easier implementation of repeating patterns

  • Safer for incremental adjustments

  • Better for relative positioning tasks

Remark

Relative movements are calculated from the current position, making them ideal for iterative or repeated motions

See also

PTPParam

See also

RobotMotionProfile

Warning

Always verify that relative movements won’t exceed joint limits or workspace boundaries

Public Functions

PtpMovParam(const kinematics::RobotParam &robotParam, const RobotMotionProfile &profile)

Generate relative PTP motion.

Generate relative PTP motion parameter.

Parameters:

  • robotParam – [in] Parameter of the robot

  • profile – [in] Motion profile parameter of the robot

PtpMovParam(const kinematics::RobotParam &robotParam, const RobotMotionProfile &profile, const double (&targetJointDistance)[kinematics::constants::MAX_NUMBER_OF_JOINT])

Generate relative PTP motion.

Generate relative PTP motion parameter which starts from current joint position to given target joint position.

Parameters:

  • robotParam – [in] Parameter of the robot

  • profile – [in] Motion profile parameter of the robot

  • targetJointPosition – [in] Target joint position [degree or mm unit]

class PtpPosParam : public PtpMotionParam::PtpBaseMotionParam

Motion parameter class for absolute Point-to-Point (PTP) movements.

Defines parameters for joint-space movements to absolute positions. This class specializes in:

  • Direct joint positioning

  • Absolute position control

  • Synchronized joint motion

  • Joint-space trajectory generation

Key features:

  • Absolute joint position targeting

  • Multi-joint synchronized movement

  • Joint-space path planning

  • Automatic acceleration/deceleration

  • Position boundary checking

Common applications:

  • Moving to pre-defined positions

  • Home position movements

  • Safe position movements

  • Calibration positions

Remark

PTP motions move each joint at its optimal speed, resulting in a non-linear tool path but efficient joint motion

See also

PTPParam

See also

RobotMotionProfile

Warning

Always verify target positions are within joint limits before executing absolute movements

Public Functions

PtpPosParam(const kinematics::RobotParam &robotParam, const RobotMotionProfile &profile)

Generate absolute PTP motion.

Generate absolute PTP motion parameter.

Parameters:

  • robotParam – [in] Parameter of the robot

  • profile – [in] Motion profile parameter of the robot

PtpPosParam(const kinematics::RobotParam &robotParam, const RobotMotionProfile &profile, const double (&targetJointPosition)[kinematics::constants::MAX_NUMBER_OF_JOINT])

Generate absolute PTP motion.

Generate absolute PTP motion parameter which starts from current joint position to given target joint position.

Parameters:

  • robotParam – [in] Parameter of the robot

  • profile – [in] Motion profile parameter of the robot

  • targetJointPosition – [in] Target joint position [degree or mm unit]