Point-To-Point (PTP) Motion

PTP motion is the most basic form of motion used when a robot or automated equipment moves from one point to another. This method focuses on the precise positions of the start and end points rather than the path itself, and is mainly used when fast and efficient position movement is required.

The main features of PTP motion are as follows.

• Destination point is more important than the path

  • In PTP motion, the path the robot takes is not important; only the precise positions of the start and end points are considered. Therefore, it is suitable for tasks that do not require interference on the path or precise path control.

• Fast travel speed

  • Each joint of the robot operates individually, and the overall motion is synchronized only at the start and end points of the motion. This enables simple and efficient control.

  • Since there is no need to precisely calculate or maintain the path, it can move at the fastest speed. This is an advantageous feature for shortening cycle time.

• Flexible coordinate representation

  • The target position can be expressed in the joint coordinate system or the Cartesian coordinate system.

PTP Motion Example with Target Joint Position Input

wmx3Api::RobotMotion robotMotion;
wmx3Api::RobotMotionParam robotMotionParam;
double targetJointAngle[];

wmx3Api::PtpMotionParam::PtpPosParam ptpPosParam(robotMotionParam, robotMotionParam.profile, targetJointAngle);

int errCode = robotMotion.mKinematics.StartPTPPos(ptpPosParam);

PTP Motion Example with Target Cartesian Coordinate Input

wmx3Api::RobotMotion robotMotion;
wmx3Api::RobotMotionParam robotMotionParam;
wmx3Api::coordinate::CartesianPose targetCartesianPose;

wmx3Api::PtpMotionParam::PtpPosParam ptpPosParam(robotMotionParam, robotMotionParam.profile);

int errCode = robotMotion.mKinematics.StartPTPPos(ptpPosParam, targetCartesianPose);