# Adding Shift movements in UR

**URL:** <https://forum.universal-robots.com/t/adding-shift-movements-in-ur/30337>\
**Category:** General Application Help: How do I?\
**Created:** [September 8, 2023, 1:34am UTC](https://forum.universal-robots.com/t/adding-shift-movements-in-ur/30337 "2023-09-08T01:34:47Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon50418192](https://avatars.discourse-cdn.com/v4/letter/a/ea666f/32.png) [@anon50418192](https://forum.universal-robots.com/u/anon50418192)\
**Post date:** [September 8, 2023, 1:34am UTC](https://forum.universal-robots.com/t/adding-shift-movements-in-ur/30337/1 "2023-09-08T01:34:47Z")

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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)

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/f/ff48310dbc25b6664acb05d1863eed7f448a58cc.png)

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!

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**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\
**Post date:** [September 8, 2023, 5:31am UTC](https://forum.universal-robots.com/t/adding-shift-movements-in-ur/30337/2 "2023-09-08T05:31:33Z")

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Hello,

I would do it something like this:

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/c/c475bd2c9295a239d9517066816f7b4b924600a1.png)

Waypoints SP2-SP4 are variable waypoints. 🙂

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<div class="post-metadata">

**Author:** ![anon50418192](https://avatars.discourse-cdn.com/v4/letter/a/ea666f/32.png) [@anon50418192](https://forum.universal-robots.com/u/anon50418192)\
**Post date:** [September 11, 2023, 11:41pm UTC](https://forum.universal-robots.com/t/adding-shift-movements-in-ur/30337/3 "2023-09-11T23:41:48Z")

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Thanks a lot! I will try it this way