08-06-2025, 10:48 AM
Hi, I am trying to do a oscillating path trajectory for a flat panel. The coordinates are set to a reference frame 1 (0,0,0), where the robot will move from (5,0,0) to (5,5,0) to (10,5,0) to (10,0,0) and so on. There is no rotation of the end effector and all rotational angles are fixed.
A target is generated for each corner of the oscillating path with reference to reference frame 1 and used to create a linear path with MoveL. However, during the actual robot motion, I noticed that for the pose in between each target set, there are deviations in the end effector location with reference to reference frame 1. For instance, during the linear motion from (5,0,0) to (5,5,0), the x and z value should remain constant and 5 and 0 respectively. However, the values appear to be fluctuating around 4.2 and -0.8 during the movement. The pose reflects the correct value (5,5,0) upon reaching the target.
I would like to check if there is any reasons for this and how to rectify this issue.
Thanks!
A target is generated for each corner of the oscillating path with reference to reference frame 1 and used to create a linear path with MoveL. However, during the actual robot motion, I noticed that for the pose in between each target set, there are deviations in the end effector location with reference to reference frame 1. For instance, during the linear motion from (5,0,0) to (5,5,0), the x and z value should remain constant and 5 and 0 respectively. However, the values appear to be fluctuating around 4.2 and -0.8 during the movement. The pose reflects the correct value (5,5,0) upon reaching the target.
I would like to check if there is any reasons for this and how to rectify this issue.
Thanks!
