Dome movement using movej

[francis]

i have a camera attached to the flange of the robot.
i would like it to take pictures of an object from all angles so I’m trying to create a URScript for it.

starting from directly above the object, the robot will move in an arc until 90degrees all the while keeping the camera is directed towards the object.
the robot will then return to the starting point directly on top of the object and repeat the arc motion towards another direction.

I’m using sin() and cos() functions for calculating the next point and pose_add to move towards it.
what I can’t figure out is how to keep the camera directed towards the object.

can anyone teach me how to realize what i want to do?
thank you.

[Robpod]

Hi @francis,
if you set your camera TCP at the center of the object you need to view with camera,
then you can simply use movel/movej commands with fixed coordinates for position and change only rotation angles:

[francis]

thanks @Robpod,

i understand what you are suggesting.
but this would require switching TCP settings, which i would like to avoid.