Hello everyone, I would like to ask if the motion command of the Kuka robot can specify the radius of the arc, for example, I want to walk a circle with a diameter of 20mm
The Kurka Arc Circ Zou command specifies the arc radius
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wangyichao -
December 27, 2023 at 3:35 AM -
Thread is Unresolved
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Not directly, you need to do sone calculations yourself... It depends on what gou want to accomplish and how
Here is one example just to give yiu an idea
Decl pos p0,p1,p2,p3
Decl real r
Bas(#initmov,0)
Ptp $axis_act
Bas(#bade,0)
Bas(#tool,1)
Bas(#vel_cp,0.01)
r=20 ;mm
P0=$pos_act
P1 = p0
P2 = p0
P3 = p0
P1.x = P0.x + r
P2.y = P0.y + r
P3.x = P0.x - r
Lin p1
Circ p2,p3, ca 360
Lin p0