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jbriones02
Posts: 6 Apprentice
TCP - Fixed Position, Variable Orientation |
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jbriones02
Posts: 6 Apprentice
DoF,
I am trying to manipulate a tool (allen key shown as a representation) in such a way that its TCP is fixed in position yet able to rotate about an axis that is
1. Parallel to the Z axis of the gripper
2. A normal distance equal to the Y component of the TCP
Essentially what this would deliver is a continuous rotation around my thumb (pic far below) while also holding the position of the allen key. As far as I can tell I am able to achieve this by holding down the blue arrow shown in the bottom left corner below. I am unable to replicate this with any sort of program or script.
Any direction is greatly appreciated.
Josh
I am trying to manipulate a tool (allen key shown as a representation) in such a way that its TCP is fixed in position yet able to rotate about an axis that is
1. Parallel to the Z axis of the gripper
2. A normal distance equal to the Y component of the TCP
Essentially what this would deliver is a continuous rotation around my thumb (pic far below) while also holding the position of the allen key. As far as I can tell I am able to achieve this by holding down the blue arrow shown in the bottom left corner below. I am unable to replicate this with any sort of program or script.
Any direction is greatly appreciated.
Josh
What I am trying to do is use a fixture to cut insulation from a profile that ends up normal to the gripper's Z - axis. Now that I think about it circumscribing a circle sounds exactly like what I am trying to do. The profile would be my scribe, the TCP my fixed point.
Josh