Move B Command

Overview

Move B Command is the motion command that can help the robot to move along the straight and circular path connected to multiple waypoints and destinations within the workspace.

This function takes a list that has one or more path segments (straight or circular) as arguments and moves at a constant velocity by blending each segment into the specified radius. Here, the radius can be set through posb.

Property

Annotation

You can insert text in the description, unique meaning, or nickname for each Parameter to differentiate with many DRL Components.

Parameters

In Parameter Panel, it will help you create or select your variable to define the parameter of the chosen command.

For detailed DRL description other than parameter, please refer to the following online manual link: https://manual.doosanrobotics.com/help/programming/2.9/publish/en_us/moveb-13682544.html.

Parameter Name	Data Type	Default Value	Description
pos_list	list (posb)	-	posb list
size (v)	float	None	velocity or velocity1, velocity2
size (v)	list (float[2])	None	velocity or velocity1, velocity2
acc (a)	float	None	acceleration or acceleration1, acceleration2
acc (a)	list (float[2])	None	acceleration or acceleration1, acceleration2
time (t)	float	None	Reach time [sec] When specifying time, vel and acc are ignored and processed as time.
ref	int	None	reference coordinate DR_BASE: base coordinate DR_WORLD: world coordinate DR_TOOL: tool coordinate User coordinate: Custom
courage	int	DR_MV_MOD_ABS	Movement criteria DR_MV_MOD_ABS: Never DR_MV_MOD_REL: Opponent
app_type	int	DR_MV_APP_NONE	Application Integration Options DR_MV_APP_NONE: No integration DR_MV_APP_WELD: Welding interlocking

Example

DRL Code

PY

# Init Pose @ Jx1
Jx1 = posj(45,0,90,0,90,45)		     # initial joint position
X0 = posx(370, 420, 650, 0, 180, 0)   # initial task position

# CASE 1) ABSOLUTE
# Absolute Goal Poses
X1 =  posx(370, 670, 650, 0, 180, 0)
X1a = posx(370, 670, 400, 0, 180, 0)
X1a2= posx(370, 545, 400, 0, 180, 0)
X1b = posx(370, 595, 400, 0, 180, 0)
X1b2= posx(370, 670, 400, 0, 180, 0)
X1c = posx(370, 420, 150, 0, 180, 0)
X1c2= posx(370, 545, 150, 0, 180, 0)
X1d = posx(370, 670, 275, 0, 180, 0)
X1d2= posx(370, 795, 150, 0, 180, 0)

seg11 = posb(DR_LINE, X1, radius=20)
seg12 = posb(DR_CIRCLE, X1a, X1a2, radius=20)
seg14 = posb(DR_LINE, X1b2, radius=20)
seg15 = posb(DR_CIRCLE, X1c, X1c2, radius=20)
seg16 = posb(DR_CIRCLE, X1d, X1d2, radius=20)
b_list1 = [seg11, seg12, seg14, seg15, seg16] 
# The blending radius of the last waypoint (seg16) is ignored.

movej(Jx1, vel=30, acc=60, mod=DR_MV_MOD_ABS)  
# Joint motion to the initial angle (Jx1)
movel(X0, vel=150, acc=250, ref=DR_BASE, mod=DR_MV_MOD_ABS) 
# Line motion to the initial position (X0)
moveb(b_list1, vel=150, acc=250, ref=DR_BASE, mod=DR_MV_MOD_ABS)
	# Moves the robot from the current position through a trajectory consisting of seg11(LINE), seg12(CIRCLE), seg14(LINE), 
	# seg15(CIRCLE), and seg16(CIRCLE) with a constant velocity of 150(mm/sec) with the exception of accelerating and decelerating sections.
	# (The final point is X1d2.) Blending to the next segment begins
	# when the distance of 20mm from the end point (X1, X1a2, X1b2, X1c2, and X1d2) of each segment 
	# is reached.
	
	
# CASE 2) RELATIVE 
# Relative Goal Poses
dX1 =  posx(0, 250, 0, 0, 0, 0)
dX1a = posx(0, 0, -150, 0, 0, 0)
dX1a2= posx(0, -125, 0, 0, 0, 0)
dX1b = posx(0, 50, 0, 0, 0, 0)
dX1b2= posx(0, 75, 0, 0, 0, 0)
dX1c = posx(0, -250, -250, 0, 0, 0)
dX1c2= posx(0, 125, 0, 0, 0, 0)
dX1d = posx(0, 125, 125, 0, 0, 0)
dX1d2= posx(0, 125, -125, 0, 0, 0)

dseg11 = posb(DR_LINE, dX1, radius=20)
dseg12 = posb(DR_CIRCLE, dX1a, dX1a2, radius=20)
dseg14 = posb(DR_LINE, dX1b2, radius=20)
dseg15 = posb(DR_CIRCLE, dX1c, dX1c2, radius=20)
dseg16 = posb(DR_CIRCLE, dX1d, dX1d2, radius=20)
db_list1 = [dseg11, dseg12, dseg14, dseg15, dseg16] 
# The blending radius of the last waypoint (dseg16) is ignored.

movej(Jx1, vel=30, acc=60, mod=DR_MV_MOD_ABS)   
# Joint motion to the initial angle (Jx1)
movel(X0, vel=150, acc=250, ref=DR_BASE, mod=DR_MV_MOD_ABS) 
# Line motion to the initial position (X0)
moveb(b_list1, vel=150, acc=250, ref=DR_BASE, mod=DR_MV_MOD_ABS)
	# Moves the robot from the current position through a trajectory consisting of dseg11(LINE), dseg12(CIRCLE), dseg14(LINE),
	# dseg15(CIRCLE), and dseg16(CIRCLE) with a constant velocity of 150(mm/sec) with the exception of accelerating and decelerating sections. (The final point is X1d2.) 
	# Blending to the next segment begins when the distance of 20mm from the end point (X1, X1a2, X1b2, X1c2, and X1d2) of each segment is reached. (The path is the same as CASE#1.)