[Keisuke.Sakai]

Hello RoboDK Support,

I have attached the RoboDK project file for your review.
In my Machining Project settings, I selected "Tool orientation follows path" (see attached screenshot). However, the generated robot motion does not follow the path direction as expected. The robot follows the path geometry, but the tool orientation does not automatically rotate to align with the path tangent.

Issue Description

• Algorithm: Tool orientation follows path
  
• Expected behavior: The tool orientation should rotate and follow the travel direction along the path.
  
• Actual behavior: The tool orientation does not align with the path direction during robot motion.
  

Could you please help me understand:

1. Whether additional settings are required to make the tool orientation follow the path direction.
   
2. Whether there are any limitations regarding the curve/path definition.
   
3. Whether the issue could be related to the reference frame or tool frame configuration.
   
4. If my project configuration contains any incorrect settings.
   

I have attached the project file and would appreciate it if you could review it and advise on the cause of this behavior.
Thank you for your support.

Best regards,
Keisuke Sakai

[Sergei]

Thank you for the detailed explanation.

It is possible to simulate realistic AGV movement in RoboDK. However, you will need to use a curve with normals defined relative to the corresponding vertical wall and rotate the tool accordingly. This will allow you to properly control the AGV's orientation (RZ). Additionally, the corners must be smoothed to ensure the AGV remains streamlined with the straight sections of the trajectory.

You can create this type of curve in CAD software and import it using one of our CAD/CAM plugins:
   


I have attached your station with this example added.

If you have specific requirements for the trajectory input, please contact us via email so we can discuss developing a specific add-in for AGV simulation.