Cartesian motion

Most practical scenarios require robot motions that are aligned to points and geometric structure of physical objects. So called cartesian motions represent movement along defined paths in three-dimensional space. This section describes ways of programming cartesian movements for the KUKA Light Weight Robot. It requires knowledge about the Robotics API concepts Device and DeviceInterface (cf. 1.4) and the Robotics API world model (cf. 2.2).

This section consists of the following parts:

• The choice of the Motion Center Point is illustrated in section 2.3.1.
• In section 2.3.2, cartesian point-to-point motions are described.
• Linear cartesian motions are among the most commonly used motion types and are explained in section 2.3.3.
• Motion along more complex geometric shapes can be described using bezier splines, as illustrated in section 2.3.4.