Change Circular Motion Direction of Path

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Function

This Step adjusts the circular motion direction of a path.

Usage Scenario

This Step is usually used in door/glass gluing applications. If the robot encounters a soft limit during the movement, the start and end points will be switched, and the robot will move along the newly set targets.

Input and Output

  • Input:

    1. Original path consisting of the targets input to this port will be adjusted.

    2. List of robot end effector targets in the original path.

    3. List of robot end effector targets in the original path in the flange reference frame.

  • Output:

    1. Adjusted targets that form the path whose circular motion direction has been adjusted.

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