The program programming of KUKA robots！

The motion instructions (such as PTP, LIN, CIRC) are responsible for the path planning of the robots.

I. Overview of KUKA Robot Motion Instructions
As a globally renowned manufacturer of industrial robots, KUKA's programming system offers a variety of motion instructions to achieve precise path planning. The main motion instructions include:

PTP (Point to Point, Point-to-Point Movement)
LIN (Linear, Linear Movement)
CIRC (Circular, Circular Arc Movement)
These instructions form the core of KUKA robot path planning, determining how the robot moves from the starting point to the target point.

II. PTP (Point-to-Point) Motion Instruction Details
1. PTP Instruction Characteristics
Motion Mode: The robot moves from the starting point to the ending point at the fastest speed, without considering the shape of the path
Trajectory Characteristics: Joint space movement, all axes start simultaneously but do not necessarily reach simultaneously
Application Scenarios:
Material grasping and placement
Non-path-sensitive operations
Quick positioning to the working position
2. PTP Instruction Advantages
High Efficiency: The shortest movement time
Simple Programming: Only need to specify the starting and ending coordinates
Joint Protection: Automatically calculates the optimal motion curve for each axis
3. PTP Instruction SEO Optimization Points
Emphasize the efficiency advantage in scenarios where quick positioning is required but path accuracy is not highly demanded
Highlight its ability to reduce movement time and increase production cycle
Suitable for energy consumption optimization during large-scale movement
III. LIN (Linear) Motion Instruction Details
1. LIN Instruction Characteristics
Motion Mode: The robot's tool center point (TCP) moves along a straight line from the starting point to the ending point
Trajectory Characteristics: Cartesian space movement, the path is predictable
Application Scenarios:
Welding (linear weld seam)
Gluing
Precise assembly
2. LIN Instruction Advantages
High Path Accuracy: Strictly ensures the linear trajectory
Speed Control: Can set constant speed or variable speed
Collision Avoidance: Predictable path facilitates safe planning
3. LIN Instruction SEO Optimization Points
Emphasize the irreplaceable nature of its use in processes requiring precise path control
Highlight its ability to improve product quality consistency
Suitable for scenarios with requirements for motion stability Polishing
Complex Surface Machining
2. Advantages of the CIRC Instruction
Path Continuity: Achieving smooth curved motion
Reduced Stopping: Avoiding sudden speed changes caused by straight line connections
Process Adaptability: Perfectly matching the requirements of circular or curved machining
3. SEO Optimization Points of the CIRC Instruction
Emphasizing the precision advantage in the curve machining process
Highlighting its ability to reduce the number of program segments and improve programming efficiency
Suitable for processing scenarios with high surface quality requirements