The PTP instruction for KUKA robots, also known as Point To Point motion instruction, is a commonly used motion instruction in KUKA robots.
The following is a detailed introduction to the instruction:
1、 Basic concepts of PTP instructions
The PTP instruction refers to the movement of the robot along the fastest trajectory to move the TCP (tool center point) from the starting point to the target point.
This is the shortest and most optimized way of moving. Due to the rotational motion of the robot axis, curved tracks travel faster than straight tracks, so the trajectory of PTP motion is not necessarily straight.
The motion of all axes starts and ends simultaneously, and these axes must be synchronized, so it is impossible to accurately predict the trajectory of the robot.
2、 Application scenarios of PTP instructions
PTP instructions are typically used in scenarios where robots need to quickly move from one position to another.
For example, on an automated production line, robots may need to quickly grab workpieces and move them to the next process.
At this point, PTP instructions can ensure that the robot completes its movement at the fastest speed possible, thereby improving production efficiency.
3、 Editing and Execution of PTP Instructions
When editing PTP instructions, it is necessary to specify the starting point, target point, and related motion parameters.
These parameters include motion speed, acceleration, deceleration, etc. The first motion in the program must be PTP motion, as only in this motion are the state and steering evaluated.
When executing PTP instructions, the robot will move from the starting point to the target point according to the preset trajectory and speed.
Due to the unpredictable trajectory, it is necessary to reduce the speed near the obstructing object during debugging and trial operation to test the robot's movement characteristics and prevent collisions.
4、 Precautions for PTP instructions
When using PTP instructions, it is necessary to ensure the accessibility of the target point, that is, the robot can reach the target point according to the preset trajectory and speed.
During debugging and trial operation, it is necessary to closely monitor the movement characteristics of the robot to ensure that it can slow down or stop in a timely manner when encountering obstacles.
In actual production, it is necessary to select appropriate motion parameters based on specific application scenarios and process requirements to ensure the motion performance and production efficiency of the robot.
5、 Extension of PTP instruction
In addition to basic PTP instructions, KUKA robots also support PTP instructions with collision detection (PTP-C).
This instruction can help robots recognize their surrounding environment, avoid collisions, and thus improve the safety and reliability of the robot.