[invictus7]

What I would like to implement is a motion in which the TCP freely moves along the surface of a sphere while continuously pointing toward the center of that sphere. As shown in the following link:
https://youtube.com/shorts/xN6pNNwk8lg?s...ruJjUZEjji

You can see a motion where the end effector moves along the surface of a sphere around a fixed central point.

Based on this concept, I would like to use a joystick—like a PlayStation controller—so that the left joystick moves the TCP across the surface of the sphere (up, down, left, and right), while the right joystick moves the TCP forward and backward along the radial line extending from the fixed center of the sphere.

At the beginning of the operation, when pressing a “start” button, I would like the system to automatically set the sphere’s center at a point located, for example, about 45 cm vertically from the TCP, and then use that point as the reference for all subsequent movements.

I would like to ask whether such motions can be implemented in RoboDK, and if so, what basic coding approaches or built-in functionalities could be used.

Thank you very much.

[Albert]

You should be able to program these motions using RoboDK. You should be able to create a target at the center of the sphere and then move the orientation of the target to create these motions. If you have calibrated your TCP and you know the diameter of the sphere you can get a close estimate of the sphere center by pointing vertically towards the center and teach a target.

The most challenging part is to calibrate the center of the sphere accurately if you can't reach the center. You can achieve this with a custom fixture to properly teach the center, or teach 3 or 4 points in the surface of the sphere and use some math to find the center of the sphere.