Robot commands MoveL and MoveC are to move end-effector in a linear and circular path respectively in Cartesian space, but what about orientation? Is it decomposed to axis-angle representation and move linearly in the angle? And is it the same way for all robots generally?
For linear and circular it will simply gradually go from one orientation to the other.
You can test it out.
Robots can have multiple ways of managing MoveCs orientation and we don't.
Thanks for your response. I know it would go "gradually" from one orientation to the other, but there're different ways. Is it linear in angle around the common axis between the two orientation?
Like I said, contrarily to some robot brands, we don't have multiple ways to create MoveCs.
We do a linear interpolation of the angles between the starting point and the intermediary point, and the same again between the intermediary point and the final one.
I invite you to test it out yourself, you should be able to understand the behavior pretty quickly.