08-17-2021, 11:23 AM
There're a few things you could try but I don't know which one would work without the station.
- You can play with the start point position along the curve.
- Change the starting configuration in the Curve Follow Project (CFP)
- Change the optimization parameters in the CFP
- Use a different algorithm in the CFP (minimum tool orientation vs tool orientation follows path)
- Limit the robot joints to avoid this rotation
- Figure out why this rotation occurs, is there a singularity (I feel like it's the case as Singularities for cobots are at J5 = 0 or 180) or joint limit.
Jeremy
- You can play with the start point position along the curve.
- Change the starting configuration in the Curve Follow Project (CFP)
- Change the optimization parameters in the CFP
- Use a different algorithm in the CFP (minimum tool orientation vs tool orientation follows path)
- Limit the robot joints to avoid this rotation
- Figure out why this rotation occurs, is there a singularity (I feel like it's the case as Singularities for cobots are at J5 = 0 or 180) or joint limit.
Jeremy
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