Hi, guys!
One more problem with KUKA robots performance.
I need in welding circular path on a detail fixed on a two axes positioner. The angle of the torch needed to be aproximately 45 degrees relative to the flange base of the posotioner during welding. The problem is, that at the auxillary circ points the angle of the torch is changing. You can see it on the following video (the tool orientation was set as standard):
If I set tool orientation as wrist ptp, the problem with that partially disappears, but ocsillation doesn't work. This can be seen from the video below:
Somebody knows how to solve this problem?