#The KUKA Robot Programming Language ##Movement The KUKA robot can move from point A to point B in three main ways:
PTP
– Point-to-Point – Motion along the quickest path to an end point. This motion requires the developer to set one point.
LIN
- Linear – Motion at a defined velocity and acceleration along a straight line. This motion requires the developer to set one point. The robot uses the point defined in the previous move as the start point and the point defined in the current command as the end point and interpolates a straight line in between the two points.
CIRC
– Circular – Motion at a defined velocity and accerlation along a circular path or a portion of a circular path. This motion requires the developer to set two points, the mid-point and the end point. Using the start point of the robot (defined as the end point in the previous motion command) the robot interpolates a circular path through the mid-point and to the end point.