Hi,guys. Now I want Robot(KUKA LBR Med ) TCP(a tool attached to flange) to move along a circle. I just know that Spline() can contain a group of motion as the Manual Guidance shows. But I don't know how to program? Could Anyone help me? Another question is: If I want to make robot run automaticly along path in which I handGuided the robot beforer, How to program? Any tips , I would be thankful.
Make Robot TCP move along a circle
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refrain wang -
August 19, 2022 at 5:03 AM -
Thread is Unresolved
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spline is meant for arbitrary path. making precise circle this way is not practical. there is a movement that does circle. you can learn to program by taking training. KUKA offers iiwa programming. if you have no previous experience, i would suggest to try getting familiar with general Java programming before taking training ad KUKA.
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My suggestion is to use CartesianImpedanceControlMode and CartesianSineImpedanceControlMode when move.
Move with lower stiffness and set some bias.
Move path should be offseted to move along the object.