Glossary · Robotics
Point-to-point motion
Also known as: PTP motion, Joint motion
German: Punkt-zu-Punkt-Bewegung
In robotics, point-to-point motion is a motion type in which the controller moves the axes to a target position without controlling the path of the tool center point in between; the axes are usually synchronized to start and stop together.
- Robotics
In one sentence
Point-to-point motion moves a robot's axes to a target without a defined tool path in between, usually the fastest way to move.
Example
Between the pick position and the approach point above the pallet, the robot uses point-to-point motion because the path does not matter in free space.
How it applies
- Engineering: Point-to-point motion is fast and avoids singularity problems, but the resulting path is curved and less predictable. It is used for transfers in free space away from fixtures and people.
- Commissioning: Because the path is not a straight line, the robot can sweep through areas the programmer did not expect. Paths are checked at reduced speed and in simulation.
- Documentation: The documentation team should explain the motion types in programming guides and warn that point-to-point paths can deviate strongly from a straight line, which matters for cell layout and the position of guards.
Point-to-point motion vs. continuous-path motion
In point-to-point motion only the target is defined; in Continuous-path motion the geometric path between points is defined too. The latter is needed for process tasks.