KUKA robots, differences between 2 types of movement

All we know that KUKA is one of 3 producers of industrial robots on worldwide.

On KRL ( KUKA ROBOT LANGUAGE - programming language for KUKA robots), we have few types of movements. I want you to show you the difference between 2 types of them, POINT-TO-POINT movement and LINEAR movement.

I build an little program of manipulation, and i run him with those 2 types of movement. 

For a good observation of differences, I realized two movies that I put below.

First, the linear motion (LIN).

And second the point-to-point motion (PTP).

From those 2 videos, the differences are clear :

• If you choose linear motion, you lose some time because, the motion it linear and the robot must move on straight line, like in the picture. You have more precision with this type, but you lose some time, and all we know that time is money.

• Obviously, like you observed, point-to-point motion is more speedy, because the robot choose the fastest way to destination, even if that means to cross a long way, like in the picture. The main advantage with this movement, is represented by time, and the main disadvantages is that you don't have precision with this motion, and path is imprecise.

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