The influencing factors are: speed, acceleration, jerk, and path planning.
It is recommended to set the speed acceleration to the maximum value.
The jerk is 1000 by default and can be adjusted up to 10000.
xArm Studio does not currently support adjusting jerk, it can be adjusted through the Python interface, set_jert ().
The stroke effect is also very large. If it is only moved a few millimeters, the robot arm cannot accelerate. If it is a cyclic motion, it is recommended to use Lineb for continuous planning.
Python sample code:
import os
import sys
import time
sys.path.append (os.path.join (os.path.dirname (file), ‘… /… /…’))
from xarm.wrapper import XArmAPI
arm = XArmAPI (‘192.168.1.221’, is_radian = True) #Set to the IP of your own controller
arm.motion_enable (enable = True)
arm.set_mode (0)
arm.set_state (state = 0)
arm.clean_warn ()
arm.clean_error ()
arm.motion_enable (True)
arm.set_mode (0)
arm.set_state (0)
time.sleep (1)
arm.set_joint_jerk (500, is_radian = True) #joint_jerk max 500, default 20 (rad / s ^ 3)
arm.set_tcp_jerk (10000) #tcp_jerk max 10000, default 1000 (mm / s ^ 3)
arm.save_conf ()