09-25-2019, 08:17 PM
Hi there,
If I get you right, there are two things to do to fix your problem.
In your Curve Follow Project,
1 - Change the Algorithm from "Minimum tool orientation change" to "Tool orientation follows path". Test to see if wanted result is reached.
2 - If not, change "Allow a tool Z rotation of " to zero and Update, if you end up with a big red X, that means that you have a singularity problem and that your robot needs to rotate around Z to follow the given path. You can change the position of the path in space to find a "singularity free" zone. You can also play with both "Optimization parameters" to find a result that involves a minimum of rotation.
希望它可以帮助。
Jeremy
If I get you right, there are two things to do to fix your problem.
In your Curve Follow Project,
1 - Change the Algorithm from "Minimum tool orientation change" to "Tool orientation follows path". Test to see if wanted result is reached.
2 - If not, change "Allow a tool Z rotation of " to zero and Update, if you end up with a big red X, that means that you have a singularity problem and that your robot needs to rotate around Z to follow the given path. You can change the position of the path in space to find a "singularity free" zone. You can also play with both "Optimization parameters" to find a result that involves a minimum of rotation.
希望它可以帮助。
Jeremy