Hi guys,
KSS 8.3, KRC4
I have close to a hemispherical work-piece that is mounted to the flange of my robot arm. The TCP is currently defined at the center of the work-piece and the apex of the convex sphere. Imagine slicing a basketball in half and mounting it to the flange of the robot. I have an external tool that I am using on the work-piece. It is essential that the robot (using A and B) angles keep the work-piece normal to the static external tool at all times. The tool path is a simple raster pattern back and forth, yet with the A and B angles changing.
I am encountering difficulties doing the math to figure out how much to exactly shift the A and B angles at each X,Y position. I think a lot of my issues arise from the fact that I believe the rotations are done about the TCP as the origin. So once I shift my A angle, the previously calculated B angle no longer applies since the A angle shift actually causes my TCP to move as well. In addition, when I translate in the X,Y axes this shifts the TCP (and hence the origin as to what my original angles were supposed to be rotated around).
Would establishing an external tool help keep my TCP static at the interface between my workpiece and the tool? Even with my part rastering back and forth?
Thanks!