Hi, I have a UR3 model and want to get it to move to shake a tool both up and down and side to side at the same time with different frequencies and amplitudes. I can change the amplitude for both parts but want the “wrist 2” part of the robot to move at 0.1 hz and the “elbow” to move at 1.0 hz. So far I can only add one frequency by changing the time it takes to get to the waypoint. Is there a way to do this how I want to?
How are you achieving what you’ve got so far? If you show your program it might help people to make suggestions.