[GianluPTtech]

Greetings,

I have a robot mounted on two external axes on robodk.
I'm trying to make the robot follow the path drawn, but instead of preferring the position of the robot assigned by me, it moves the robot in a wrong posture which is not functional and is impossible for the posture of the machine itself.
I'm working with Smart Optimization and Optimize track, but probably I can't enter the parameters that allow me to make the robot move as I would like. Attached is an image of my attempt. Can you advise me on a good solution?

Thank you,
Gianluca

[Albert]

Can you attach your RoboDK project and the image? There was no attachment.