# Conical Helix Movement **URL:** https://forum.universal-robots.com/t/conical-helix-movement/531 **Category:** URScript **Created:** [February 10, 2017, 3:21pm UTC](https://forum.universal-robots.com/t/conical-helix-movement/531 "2017-02-10T15:21:24Z") **Posts on this page:** 1 **Showing post:** 4
### Author: ![ajp](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ajp/32/471_2.png) [@ajp](https://forum.universal-robots.com/u/ajp) #### Post date: [February 13, 2017, 8:36am UTC](https://forum.universal-robots.com/t/conical-helix-movement/531/4 "2017-02-13T08:36:09Z")
If you essentially just translate your matlab code into URScript, you can then feed the positions into the servoj command (after converting to joint angles using get\_inverse\_kin() ) : > [@How to execute a densely sampled trajectory?](http://forum.universal-robots.com/t/how-to-execute-a-densely-sampled-trajectory/488): > > I’m sending a URScript-function with several movex-commands with blending radius to smoothely move along a trajectory. This works great as long as the poses are far away from each other. However, I’m using a planner that dynamically generates a trajectory for a collision free path. This plan contains a lot of poses (distance of some mm) This trajectory can be executed, the robot however moves rather slow. It looks like he wants to achieve a speed of zero at each pose so that he’s accelerating a… You can set the TCP orientation as [0,0,0] for all positions to keep the tool pointing upwards throughout the movement. --- _[View the full topic](https://forum.universal-robots.com/t/conical-helix-movement/531)._