Good afternoon, I am using a laser sensor and kuka RSI 3.1 with kss 8.2.20.
I want to implement the adjustment of the robot in coordinates depending on the detail, I wrote a server application that reads the current coordinates of the robot relative to the base coordinate system of the detail. The app works, but I need to implement tool offsets. An example of a trajectory in the figure, I read a blue trajectory with a laser and then my tool with a tcp point repeats the blue trajectory, but I need tcp to repeat the green trajectory. How can you make these displacements on the entire path, I tried to change the tcp calibration of the tool and specify the required displacement, the whole contour is displaced. To change the path, I need to use the face normal. Is it possible to use the TTS coordinate system for this?