Enhance motion quality using path smoothing algorithms, duplicate point removal, and line simplification to ensure fluid, vibration-free robot travel.

Addin Curve Utilities - Image 8

This menu comprises of advanced mathematical algorithms used to improve the path for industrial-grade motion in the form of following features:

1.Remove Duplicated Points: Deletes consecutive points that are effectively identical.

Note: Modern robot controllers can "stutter" if they receive multiple commands for the same millimeter; this filter ensures clean, continuous motion.

2.Simplify Straight Lines: Analyzes segments and removes redundant points that lie on a perfectly straight line. It reduces a path with 1,000 points to 2 points (start/end) if the segment is straight, drastically reducing program size.

3.Resample Curve (Fixed Step): Adds new points at the fixed step intervals to force a specific distance between all points (e.g., exactly 5.0mm). This is critical for dispensing glue or sealant, where a constant speed/distance relationship is required for a uniform bead.

Note: If your input is greater than the available distance between points of the curve, the already existing points are not deleted. In other words, if the code is not able to find gaps (between consecutive points) that are greater than the input step you provided, no action will be taken.

4.Resample Curve (By Factor): Increases the number of segments by a multiplier (e.g., 2 as an input will break each segment of the curve into 2 parts; it will add an extra point between every consecutive points).

Tip: Use this to "up-sample" a low-resolution curve to provide more data for smoothing algorithms.

5.CCMA Smoothing (Accuracy Focus): Uses a Moving Average to dampen "jitter" in the path. Because it averages nearby points, it is excellent for 3D scan data where you want to remove noise while staying very close to the original coordinates.

6.B-Spline Smoothing (Motion Focus): Creates a high-order polynomial spline through the points.

Tip: This is the "Gold Standard" for high-speed robot motion. It ensures the robot doesn't have to slow down at every point, resulting in much faster cycle times.

7.Sort Curves by Distance: It re-orders curve segments so the robot always moves to the closest next path start, minimizing the time spent moving through the air.

8.Split/Group Discontinuous Curves: Scans for large physical gaps in a path and automatically splits them into separate RoboDK items. This allows you to treat "Island" paths (like letters in a logo) as separate operations.

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