Hi All,
I am trying to scan around a cylindrical shape with the KUKA. I have written a program which follows a circ motion around the cylinder, then steps down in z and repeats the reverse of the circ motion. When I do this I feed the robot a start position, mid position and end position. I want to fix the end piece of the robot, so it is always parallel with the barrel. The euler angles rotate however, such that this is not the case on my code. How can I fix two of the euler angles and just rotate in A for example?