[Shawn271981]

Hello Robo DK community. I am new to Python and learning RoboDK and am trying to write a program to simulate polishing a quarter rounded edge with 3 points. I am able to control the robot programmatically in X Y & Z but am stuck trying to rotate the TCP relative to the X axis.

I am using MoveC right now, but I think I need to be using targets with a follow path?

Program is attached showing the movement, but not able to rotate.

Any help pointing me in the right direction would be appreciated or example code snippet.

Thank you!

[Albert]

You can apply relative rotations by multiplying your pose by rotation matrices.

This example shows how to add a relative rotation around the X axis:

Code:

new_pose = pose_reference * rotx(rotation_deg * pi / 180)