Hello,
sry if this place is not the correct one for my question.
My problem is:
I have a 6-axis robot arm with an effector which has two tcps where each one has one slide joints where i can move the points out and inside.
Part 1: I need to simulate the motion of the robot towards the workpiece (simplified it is a block laying on a desk). The tcp point must be parallel to the workpiece and stop on a specific point.
Part 2: In this position the motion must stop, so the slide joint of the tcp 1 can move out stop a few seconds and move inside again.
Part:3 From this Position the robot should move over some specific paths which are linear (in total 3).
Part 4: After going over the last linear path from its end, repeat Part 1 and 2 (with tcp 2 moving).
Part5: Back to start position
I tried for part 1 the path constrains from MCD but I had a lot of singularity problems. Although I do not know how to create the command to use the effector after the first path and then control afterword’s the linear paths out of the new positions. Moving the slide joints alone is no problem with position control but working it together with the path control does not work.
Questions:
Which application should i use? (MCD?)
Which commands are useful?
Which parameters do i have to consider?
If i am wrong here, where can i find some help.
I am thankful for any help
Best regards Marcel