Is there a way to approximate the work envelope for robot with a finite number of points?

I would also need to be able to do this with different tools.

I know that robot studio can show you the work envelope, but I don't know how turn that into points that could checked in rapid.

I trying to find the minimum distance between the work envelope and a point. If I can approximate work envelope as a set of points, then I can use the distance command to check the point and each point of the work envelope.


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