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I want the robot to add an angle α at its movements in order to reach the corners all over the circular path like this :


Here is the program for having a simple circular path (without any angle) :


In order to have the angle all over the path I changed the program :      I added +/-0.2 radian at RX or RY for p1, p2, p3 and p4 :

Example :     p1:=pose_add(center,p[r,0,0,0.2,0,0])

But this is what I got on a video (Watch FullSizeRender.MOV)

The Robot is not tilted constantly...                   Should I add more MoveP points ?