Make Robot TCP move along a circle

    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.

    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.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    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.

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