Concatenation of Movements

Concatenation of movements

In aico.control system two motions can be "glued" together using a non-zero final velocity value. This method is called concatenation. It is a primitive way of blending. Each motion is fully executed according to its interpolation specification in opposite to blending(CP,SP or AI) where the path is modified in order to fit to the motion constrains.

How the concatenation is issued?

Depending if the given motion element is group/axis or robot the following final-velocity properties are used:

• In case of group/axis: VFINAL (comes together with VCRUISE).
• In case of robot : VFTRAN and VFROT (comes together with VTRAN and VROT).

Some special issues that need to be taken into account

Discretization