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An example using blends like this can be found below.It is widely believed that the name Lavani originated from the word ‘Lavanya’ meaning beauty. It can be done using the Blend with radius parameter on the command tab in Polyscope for variable positions. This program can be downloaded from the bottom of this site. squaremotionrelativetothetool 2) Square motion relative to the tool with blend For some applications it will make sense to blend on the corners.

Please refer to the script manual for further information. Loop MoveL corner1≔posetrans(startpos,pwidth/1000.0,0.0,0.0,0.0,0.0,0.0) corner1 MoveL corner2≔posetrans(startpos,pwidth/1000.0,height/1000.0,0.0,0.0,0.0,0.0) corner2 MoveL corner3≔posetrans(startpos,p0.0,height/1000.0,0.0,0.0,0.0,0.0) corner3 MoveL startpos Note that X and Y dimensions on the second pose have been divided by 1000 since values are entered by operator in millimetres and they need to be converted to meters when working with script functions.

These positions are calculated using the script function posetrans, with the start position as first argument, and using the values assigned by the operator in its second pose argument to define the dimensions of the rectangle (X and Y). Operator assignment to get the value of the variable width The TCP is moving within a loop through the other three corners of the square using MoveL movements with variable positions. Program Robot Program startpos≔getforwardkin // Reads the position of the tool at this point in the program height≔'Height in mm?' // Operator assignment to get the value of the variable height width≔'Width in mm?' This can be achieved in SW versions higher that 1.7 also with the script function getactualtcppose. It is starting on the current position of the TCP, which is saved under the pose variable startpose using the script function getforwardkin. We will take 3 examples: 1) 2) 3) 1) Square motion relative to the tool The following program is an example of how to follow a rectangular path, relative to the tool, which dimensions has been assigned by the operator. Examples are valid for: CB2 Software version: 1 CB3 Software version: 9 Note that older or newer software versions may behave differently.

Difficulty level Advanced Moving to a position calculated from user input - 16605 Let the user enter some dimensions of an object, and then move the robot according to them.