How to make sure that the TCP velocity is always constant even when rotating the external axis?
I have robot + positionner + part. The part is fixed on the positionner. the workobject frame of the part has been created in the positionner coordinate system. a robot trajectory has been created in the work object frame of the part. now when I run the robot trajectory and rotate the positionner at the same time, How I could be sure that tcp is always constant through the complete trajectory of the robot ?