With articulated modules, 6-axis collaborative robots can achieve smooth movements. The following are some of the key roles of joint modules in realizing smooth movements:

1. High-precision joint control: Joint modules have high-precision position control capability, which can realize the joint motion. By controlling the position and speed of each joint, the robot can realize smooth movements.

2. High Stiffness Structure: The joint module adopts high stiffness structure design, which can provide stable support and rigidity. This reduces the vibration and jitter of the robot in motion, thus achieving smooth movements.

3. Dynamics Optimization: The joint modules can be dynamically optimized to enable smooth acceleration, deceleration and stopping of the robot during motion. By optimizing the dynamics of the joints, smooth motion trajectories can be achieved.

4. Motion planning and trajectory control: Joint modules can be equipped with motion planning and trajectory control algorithms that calculate and optimize the robot's trajectory to achieve smooth movements. These algorithms can take into account the robot's dynamics and constraints to minimize unwanted vibrations and shocks to a greater extent.

5. Software control: Joint modules can be combined with a software control system to realize the joint motion control. Through the software control system, the position, speed and torque of the joints can be monitored and adjusted in real time, so as to realize smooth movements.

In summary, joint modules play a crucial role in six-axis collaborative robots. Through the cooperation of high-precision joint control, high-stiffness structural design, dynamics optimization, motion planning and trajectory control, and software control system, the smooth movements of the six-axis collaborative robot can be realized.