October 15, 2021
RapidCode now provides the Robot class for performing moves in a cartesian space. Through the Robot class, engineers benefit from using a unified API to work with any mechanical/kinematic configuration which accelerates the process from development to production. Given a target pose to move to, the Robot class performs the inverse kinematics to determine the intermediate poses on the path and calculates the trajectories required to reach them. With these heavy computations abstracted away, users only need to provide the Robot class with their desired poses using GCode or the PathMotion API to perform complex motion.
The image below shows the Robot class parsing a GCode file in RapidSetup and then generating a render of the path.
The video below demonstrates a RapidArm3 robot drawing our logo using both arcs and linear movements parsed from a GCode file.