fluid robot movement

kdillinger

I have a robot path that I need to be extremely fluid.  It is a 6-axis 6600, S4C.  Picture a pen as the tool, that is writing a letter "J", axis 6 is parallel to the "paper" at all times.  The path is a straight line, tangent to an arc, then after about 90 degree arc travel, another straight line segment.  The catch is that axis-6 must rotate thru the arc so that the tooling plate stays perpendicular to the robot path.  I must have constant velocity thru the entire move, no decel at the transition points.  Can anyone suggest a technique or settings to achieve a completely fluid movement?

kdillinger2010-06-28 03:46:06