defining path to tool offset in curve follow projects- Printable Version +- RoboDK Forum (//www.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN) +--- Forum: General questions about RoboDK (//www.sinclairbody.com/forum/Forum-General-questions-about-RoboDK) +--- Thread: defining path to tool offset in curve follow projects (/Thread-defining-path-to-tool-offset-in-curve-follow-projects) |
defining path to tool offset in curve follow projects-aj747-10-01-2021 Hi, - I have a path I need a robot model to follow. - I import this path as a list of points, in the format [x,y,z,i,j,k] where [x,y,z] are position of the TCP and [i,j,k] are orientation vector of the TCP. - This definition leaves the orientation of the 6th axis undefined. For my application I need to define the 6th axis position as a function of time. - I found an answer at this link (//www.sinclairbody.com/forum/Thread-Dictating-tool-orientation-in-Point-Following-Project) suggesting to use the "path to tool offset" feature. - The "path to tool offset" feature seems to me not to include an option to import a list of orientations (corresponding to the list of points which define the path). Questions: - Am I missing this functionality? Is it available somehow? - If not available, how do I achieve this level of control (this is super necessary for me)? What suggestions do you have? (注:我应该是不明显的d import the path orientations as i,j,k vectors, especially considering that (a) I was expecting to be able to define all axes using the path definition and an i,j,k vector doesn't do that, and (b) when I double click on the imported path I see in the panel on the right "object position with respect to" and an angle definition in degrees which also mislead me) Cheers, AJ |