Dear robot enthusiasts,
I am working with a KUKA KR 60, KSS 8.2 and my tool is a glue gun.
I am trying to calculate and not teach a toolpath (see image). My greatest challenge so far is calculating the rotation angles A,B and C in each point, considering that the glue gun nozzle has to perpendicular on a plane I can calculate at each point. In the image, the glue gun orientation is represented by the green segments.
I have read the following threads:
https://www.robot-forum.com/robotforum/kuk…88647/#msg88647
and
https://www.robot-forum.com/robotforum/kuk…67208/#msg67208
which deal with the algorithm behind the 3 point base calibration method.
I want to ask if I am heading in the right direction as I am not interested in calcualting a base. Any tips would be highly appreciated.
Thank you.