Universal Robots Forum

Help With Circles

Hey guys, I have a program that needs to draw circles, I compute 3 points for the arc one as a starting point, one as at a quarter arc and one at the 180 degree mark. The robot doesn’t complete the arc, id say it gets about 95 percent of the way then just stops like it has completed the arc. I am using a UR10e with the most up to date firmware.

Hi Agay,
I have taken udemy course “Industrial Robots” from Fabrizio Frigeni. Look at the Path Planning Chapter. I think this course will help you planning circle/arc. With this course, I have planned circle with many arcs respect to different orientations. Also listen carefully him for circle direction. Dot and cross products will give you hint to do that.