Hi all,
Sometimes robot KUKA KR8 R2100 has strange linear trajectory. I recorded real poses from controller (red points at picture, there is high density of points because of small speed). Green points are program trajectory in src.
It is LIN motion but looks like PTP. How can it be? It's rare case, 99% similar trajectories (with different coordinates) are good (linear).
TCP, load data are right. C_DIS = 0.5 mm but smoothing doesn't affect it because deviation is between points.
Linear commands:LIN FORWARD(joints[0], error_id) C_DIS
LIN FORWARD(joints[1], error_id) C_DIS
...
Joints are calculated by external computer. Green points are equal to joints after forward kinematics calculation.
Right tool is set to variable $TOOL.
Scale is 1cm (right bottom corner). Smallest distance between program (green) points is ~1 mm. I am not sure but may be rebooting of controller helps for a time.