Is it possible to do a circular movement with a KRC 4 robot, like in the attached picture.
The TCP of the robot (center axis 6) should follow the red circle. The attached tool should always stay in the same position.
With that tool position I mean, like you would attach an object to a rope, where the attachment of the rope is above the center of gravity of the object.
And you take up the rope and make movements with it. Or you could say that the tool axis is never rotated in any direction in relation to the world frame, only translations are done.
Is this possible, and if so, how?
Circular movement KRC4
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SimotionD410 -
February 7, 2018 at 6:53 PM -
Thread is marked as Resolved.