HI,
I am doing an application of work piece polishing, the robot pick a work piece with a gripper and process it on a polishing machine.
Tool's TCP is located on the gripper edge ( the edge is far away from robot flange): TOOL_DATA[1] = {X 313.421417,Y 1497.38013,Z 101.276588,A -0.450000,B 0.0,C -0.0367040}
I've created a base along polishing machine for work piece processing.
The work piece to process is usually very long (about 3000 mm), so the robot must execute a long linear path.
This is part of my code:
...
;=======================
; Positions calculation
;=======================
; Calculate processApproachPosition over start position
processApproachPosition = {X 0.0, Y 0.0, Z 100.0, A 0.0, B 0.0, C 0.0} : processStartPosition
; Calculate processEndPosition
processEndPosition = {X 3500.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0} : processStartPosition
;=======================
; Process polish sequence
;=======================
;----------------------------------
; Approach and process edge polish
;----------------------------------
; Go to process approach position
SLIN processApproachPosition
; Go to process start position
SLIN processStartPosition
; Go to end process position
SLIN processEndPosition WITH $VEL.CP = processSpeed
...
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My problem is that during linear movement, the gripper TCP follows the path along X, Y and Z but it seems to rotate in A.
At process start position the gripper is aligned with polisher base, at the end of process the gripper is rotated in A (the gripper edge where TCP is located is on path but the other side is 10mm over the path). It looks like the TCP rotates in A some degrees along process path.
Robot model: KR 420 R3330
System software: KSS 8.6.8