A, Ur mobile command
UR robot moves, a total of three move instructions, movej, movel, movep, namely articulation, linear motion, circular motion.
movej: 6 joints arc
movel / movep: namely x, y, z, rx, ry, rz, they represent that pose a space, x, y, z position of the representative, rx, ry, rz representative of attitude.
Second, pose
movel movep and instructions, referred to the TCP Pose: [rx, ry, rz]
UR robot is a rotation vector method, with a rotary shaft and a posture angle is described, i.e. the coordinate system about a rotation axis by the rotation angle of the right hand rule. A rotation axis defined by unit vector, then the angle will melt into a rotating vector is obtained.
Vector: [rx, ry, rz] The mold is angular , the vector unit vector direction of the rotation shaft is .
Third, pose conversion