Curve Follow Project

It is possible to make a robot follow curves in the 3D space with RoboDK. Curves in RoboDK can be selected from object edges or imported as a list of points in CSV files. This option is useful for robot welding applications for example.

Select UtilitiesCurve Follow Project to open the curve follow settings. These settings are the same as a Robot Machining Project, the only difference is that the Path input is preset to Select curve.

Select Select curve to select the curve(s) on the screen.

Robot Machining - Image 22

Select the curves with a mouse left click. Selecting the same curve twice will switch the direction of motion. Also, right clicking a previously selected curve allows switching the sense or deselect a previously selected curve.

Robot Machining - Image 23

Right click the screen and select Done or press the Esc key to go back to the settings menu. The green path will display the robot motion with respect to the object.

Some additional options are available at the top right of the settings, such as the tool speed and if the approach/retract moves must be applied for each curve. The default settings are shown in the following image:

Robot Machining - Image 24

Import Curves

Curves can be imported in RoboDK from a CSV file or a text file by selecting UtilitiesImport Curve. A new item will appear in the station showing the curve as an object.

Robot Machining - Image 25

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The file can be a text file with the 3D coordinates of each point of the curve. Optionally, the orientation of the Z axis of the tool can be provided as an i,j,k vector. All coordinates must be relative to the coordinate system of the part.

Optionally, existing curves of an object can be exported as a CSV file (right click a curve, then, select Export curve), modified and reimported back in RoboDK.

Robot Machining - Image 27

More information and examples on how to customize import of CSV or TXT files as curves or points is available in the examples section of the RoboDK API.