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ehte
Posts: 3 Apprentice
I want to make a circle using parametric equation of a circle |
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/ Most recent by George1969
in Programming
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5 comments |

in Programming
Best Answer
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matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,252 Handy
@George1969 the simple answer is yes, if you can create a parametric formula for a trajectory path it is possible to make the robot follow it.
What I wrote above is the code for making a parametric circle work on a UR3, you would need to understand the UR scripting language to be able to make this work on your robot. You can find more information on UR Script here
@ehte to make the base the center of the circle, you just need to find the current position of the robot and rotate the Rz portion by 6.28 radians and then go to that point, that should be the easiest way to make the robot the center of a circle
Center would need to be the center you want of the circle as a pose, you could define a waypoint and then save that to a variable and pass into the function
Something like that might work
I have a question at this post. Firstly, I'm beginner in robots programming and I'm sorry if I say nonsense. I did not manage to go through the script posted by Matthew (if you want to posted step by step how to write the code in UR3 robot). My question is it possible to use this procedure to make the robot to move along a anything curve if I write his parametric equation? (Not a circle like in this example).
Thanks in advanced.
Thanks for your response. I succeeded to write the program for ur to move along a circle. The script's manual is very useful, but I'm not anymore young and I learn more easy from examples.