Adding Shift movements in UR

Hi! I’m very new to robotics so having hard time to figure out which expression/function I should use.
I want to shift positions relative to initial position.

So below picutre is summary for what i want to do.

  • Robot starts from P1.

  • S1, S2, S3 is variable contains robot position values

  • example: S1 = p(0.2,0.2,0,0,0,0) / S2 = p(0.4,0,0,0,0,0) / S3 = p(0.2,-0.2,0,0,0,0)

  • Robot moves from P1 to 2nd position by adding S1’s position value to P1. Keep doing this till robot meets the start point.

  • Then, robot changes start point to P2

  • For next step, robot still moves in same direction but with different motion type. (using same S1 position value added)

To do this process, should I use [relative waypoint] or [Plane] method? It feels like both of methods are pretty hassle. Is there any easier way to do this? Appreciated if anyone can instruct me with details / step by step. Good luck for you all!


I would do it something like this:

Waypoints SP2-SP4 are variable waypoints. :slight_smile:


Thanks a lot! I will try it this way