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Circle move with an alpha angle all the path
/ Most recent by haneulines
haneulines Posts: 23 Apprentice
In our company, we want to use a Cobot for a special application : glue application in the corners of a circular face ( alike this video https://www.youtube.com/watch?v=jWhsL74CL9c)
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 ?
But we do this everyday now in the welding application we have developed using the actual movec command and we are able to hold our torch positions very accurately as we go around the circle or we can allow it to transition from start to stop point of the move. One key thing to remember is that the mid point of the arc is not controlled for angle, only xyz position. Another key thing that we have found when doing a full circle is to use 3 movec commands effectively breaking the circle into 3 segments of 120 degrees, this keeps the tool in the orientation that you want much better, for instance an inside versus an outside circle.
Thank you ! It’s right.. The robot doesn’t use the orientation of any first Movep point...
I changed parameters to make the movement fixed and it’s much better but the proble still the same...
I tried movec function but it’s worse...
Right ! I thought about this solution but first I want to try a program that could make this possible..
Thank you for your quick reply !
Here is a video after modifying the program.. It still doesn’t work..
It seems like for the first circle arc, the UR3 keeps an angle of 0.4 rad and then loose it when the second circle arc start...