{"id":45759,"date":"2021-05-24T17:22:59","date_gmt":"2021-05-24T09:22:59","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=45759"},"modified":"2022-08-05T10:52:40","modified_gmt":"2022-08-05T02:52:40","slug":"creating-circular-path-with-3-points","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/zh-hans\/docs\/creating-circular-path-with-3-points\/","title":{"rendered":"Creating Circular Path with 3 Points"},"content":{"rendered":"<p>The Circle node plans the path pass through point P2 (pass point) and endpoint P3, and uses P1 (current position) as the path start point, and plans an arc movement.<\/p>\n<h1>Setting<\/h1>\n<figure id=\"attachment_45760\" aria-describedby=\"caption-attachment-45760\" style=\"width: 494px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/www.tm-robot.com\/wp-content\/uploads\/2021\/05\/circle.png\"><img loading=\"lazy\" class=\"size-full wp-image-45760\" src=\"https:\/\/www.tm-robot.com\/wp-content\/uploads\/2021\/05\/circle.png\" alt=\"\" width=\"494\" height=\"341\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle.png 494w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle-300x207.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle-320x220.png 320w\" sizes=\"(max-width: 494px) 100vw, 494px\" \/><\/a><figcaption id=\"caption-attachment-45760\" class=\"wp-caption-text\">The Circle Node Plans Arc Path with 3-Point Setting Circle<\/figcaption><\/figure>\n<figure id=\"attachment_45765\" aria-describedby=\"caption-attachment-45765\" style=\"width: 1023px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/www.tm-robot.com\/wp-content\/uploads\/2021\/05\/circle2.png\"><img loading=\"lazy\" class=\"size-full wp-image-45765\" src=\"https:\/\/www.tm-robot.com\/wp-content\/uploads\/2021\/05\/circle2.png\" alt=\"\" width=\"1023\" height=\"575\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle2.png 1023w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle2-1000x562.png 1000w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle2-300x169.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle2-768x432.png 768w\" sizes=\"(max-width: 1023px) 100vw, 1023px\" \/><\/a><figcaption id=\"caption-attachment-45765\" class=\"wp-caption-text\">Circle Node Setting<\/figcaption><\/figure>\n<p>To use the circle node:<br \/>\nStep #1: Create a starting point before adding the circle node.<br \/>\nStep #2: In the circle node, set the Pass Point and the End Point.<br \/>\nStep #3: Define path arc length with angle.<br \/>\nStep #4: Configure the Speed Setting.<\/p>\n<h1>Reach End Point<\/h1>\n<p>In the 3-point setting circle, users can define the path arch length, and the robot will move from P1 Start Point to P3 End Point through P2. Select Keep Rotation to make the robot move and not change its pose along the trajectory. On the contrary, select Linear Interpolation to make the robot move and change its pose along the trajectory as shown below.<\/p>\n<p style=\"text-align: center;\"><a style=\"color: #f97352;\" href=\"https:\/\/www.tm-robot.com\/wp-content\/uploads\/2021\/05\/circle3.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-45770 size-full\" style=\"margin-bottom: -1ex;\" src=\"https:\/\/www.tm-robot.com\/wp-content\/uploads\/2021\/05\/circle3.png\" alt=\"\" width=\"687\" height=\"280\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle3.png 687w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle3-300x122.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle3-600x245.png 600w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/a>The Circle Motion Status of Reach End Point Setting<\/p>\n<h1>Target Central Angle<\/h1>\n<p>Define the path arc with angle and the 3-point setting circle to make the robot move along the arc with the target central angle. The angle can be a variable in integer. Along the trajectory, the robot pose will not change after P1.<\/p>\n<figure id=\"attachment_45775\" aria-describedby=\"caption-attachment-45775\" style=\"width: 359px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/www.tm-robot.com\/wp-content\/uploads\/2021\/05\/circle4.png\"><img loading=\"lazy\" class=\"size-full wp-image-45775\" src=\"https:\/\/www.tm-robot.com\/wp-content\/uploads\/2021\/05\/circle4.png\" alt=\"\" width=\"359\" height=\"271\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle4.png 359w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/circle4-300x226.png 300w\" sizes=\"(max-width: 359px) 100vw, 359px\" \/><\/a><figcaption id=\"caption-attachment-45775\" class=\"wp-caption-text\">The Circle Motion Status of Set Angle =270\u00b0<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>The Circle node plans the path pass through point P2 (p [&hellip;]<\/p>\n","protected":false},"author":3205,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4147],"doc_tag":[2499],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Creating Circular Path with 3 Points | \u8fbe\u660e\u673a\u5668\u4eba<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Creating Circular Path with 3 Points | \u8fbe\u660e\u673a\u5668\u4eba\" \/>\n<meta property=\"og:description\" content=\"The Circle node plans the path pass through point P2 (p [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.tm-robot.com.cn\/zh-hans\/docs\/creating-circular-path-with-3-points\/\" \/>\n<meta property=\"og:site_name\" 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