I have a robot path that I need to be extremely fluid. It is a 6-axis 6600, S4C. Picture a pen as the tool, that is writing a letter “J”, axis 6 is parallel to the “paper” at all times. The path is a straight line, tangent to an arc, then after about 90 degree arc travel, another straight line segment. The catch is that axis-6 must rotate thru the arc so that the tooling plate stays perpendicular to the robot path. I must have constant velocity thru the entire move, no decel at the transition points. Can anyone suggest a technique or settings to achieve a completely fluid movement?
Related topics
| Topic | Replies | Views | Activity | |
|---|---|---|---|---|
| How to stop moving 6 axis? | 2 | 295 | October 31, 2018 | |
| Code to move robot linearly an weave at same time | 1 | 61 | July 25, 2023 | |
| How to lock or control motion of one or multiple axes | 4 | 1977 | October 7, 2013 | |
| How to make sure that the TCP velocity is always constant even when rotating the external axis? | 11 | 1245 | June 4, 2020 | |
| speed data | 1 | 1234 | January 28, 2011 |