Hi all
I'm currently working on my capstone project in which I'm trying to turn a 6-axis articulated robot into a 3D printer. I'm using Yaskawa Motoman HP3 and NX100 controller for this project. It worked fine for planar 3d printing (there is no change in rotation angles (Rx, Ry & Rz)).
But when working with non-planar 3d printing I got a problem, robot trajectory was created from an STL file and stored in a text file, this text file was sent to robot controller point by point via TCP communication.
The problem is the robot shaking when moving from a point to another point with the change in rotation angles. The shaking of the robot arm leads to the vibration of the tool center point. Therefore the accuracy of the tool center point position is decreased.
I apologize if I have confused anyone with my explanation.
Thank you for any help!