Understand robot motion

Mandatory Easy 5 min

Doosan Robotics robots offer nine motions. Robot movement is controlled by standard motions, MoveJ and MoveL, and 7 motions derived from these two motions.

Types of Robot Motion

	Motion	Feature
1	MoveJ	Each joint of the robot moves from the current angle to the target angle and stops simultaneously Enter target joint angle: Joint1, Joint2, Joint3, Joint4, Joint5, Joint6
2	MoveL	Robot moves to the target point while maintaining the robot TCP straight Enter target position and rotation values: X, Y, Z, A, B, C
3	MoveSJ	Robot moves throughout all angles set by the robot Joint spline motion movement As it is a robot joint movement, the path cannot be estimated
4	MoveSX	Robot TCP moves throughout all points Task spline motion movement
5	MoveJX	The robot pose is designated as the robot TCP moves to the target point MoveJ motion movement to the target point (X, Y, Z, A, B, C) As it is a robot joint movement, the path cannot be estimated
6	MoveC	Robot TCP moves to target point while maintaining an arc
7	MoveB	Robot moves to the final target point through a section consisting of continuous straight lines and arcs
8	MoveSpiral	Robot moves from the spiral center to the maximum radius
9	MovePeriodic	Robot moves in a path with a constant amplitude and cycle

MoveJ&MoveL

Before using robot motion, it is critical to understand the standard motions MoveJ and MoveL.

J in MoveJ refers to joints. In this motion, each joint moves to the target angle and stops simultaneously.
L in MoveL refers to linear. In this motion, the TCP on the robot end moves to the target pose (position and angle) with linear motion.

	Type	MoveJ	MoveL
1	Move Method	All joints of the robot move from the current angle to the target angle and stop simultaneously	TCP on the robot end moves to the selected coordinates with linear motion
2	Advantage	Fast movement speed Not influenced by a robot singularity	As TCP path maintains a straight line, the movement path of the robot can be estimated As target point is indicated using position and rotation (X, Y, Z, A, B, C), the approximate robot end point can be estimated
3	Disadvantage	As all axes rotate to the target angle simultaneously, movement path cannot be estimated As target angle is indicated with the angle of each axis, it is difficult to estimate the robot end point and robot pose	Motion speed is relatively slower than MoveJ Influenced by a robot singularity
4	Utilization	As it is not influenced by a robot singularity, it is used to avoid singularities It is ideal in moving long distances	It is ideal in avoiding objects and fine movement