Change Circular Motion Direction of Path
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If you need to use this Step, please click Help in the menu bar, select About Plugins, and enable the “step_trajectory” plugin in the window. |
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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
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Input:
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Original path consisting of the targets input to this port will be adjusted.
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List of robot end effector targets in the original path.
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List of robot end effector targets in the original path in the flange reference frame.
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Output:
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Adjusted targets that form the path whose circular motion direction has been adjusted.
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