[GTVISION]

Like the video.
How can I use Python to simulate it.
Thanks a lot.

[Jeremy]

Hi GTVision,

If your TCP is positioned in the center of the hole of the part attached to the flange and you know the XYZ position of the fixed tool, you can simply call some MoveLs with constant XYZ rx ry and simply modify the rz of the target.

Here's a link to our API documentation with some examples:
https://robodk.com/doc/en/PythonAPI/intro.html

Jeremy

[GTVISION]

Jeremy pid='6865' dateline='1605625639']Hi GTVision,

If your TCP is positioned in the center of the hole of the part attached to the flange and you know the XYZ position of the fixed tool, you can simply call some MoveLs with constant XYZ rx ry and simply modify the rz of the target.

Here's a link to our API documentation with some examples:
https://robodk.com/doc/en/PythonAPI/intro.html

Jeremy

Hi Jeremy,
Thank you very much for your answers,sorry i don't have any programming foundation,I found a simple example and completed the attached video.

https://youtu.be/0h2fFx6gcg8

How can I make the rotation smoother?Thanks for the guidance.

[Jeremy]

Hi GTVision,

That's nice progress.
But your question is a good one.
You can try to use "setRounding" to smooth out the path.
I don't think it's possible to have a smooth movement that way.
The reason is simple, as is, the python script waits for the robot to finish its motion before calculating the next points. That automatically causes a stop between each point.
For smooth rounding, you need to have some points already program ahead of time.

Can you give a bit more explanation of exactly what you are trying to achieve?

Jeremy