Hi there! 
So I have a robot program that starts relatively from a variable starting position always. It looks like this:
So the basic idea is that a worker will move the robot end-effector to a variable position on a welding table, and the program will start. (The position of the item varies more than what a search routine on its own can take care of, which is why the worker will move the robot to this starting position first)
But usually the worker will have pretty poor precision, so after moving the robot to a rough starting position (around 1cm of accuracy lets say), then a search routine should kick in and increase the precision.
The problem is, Iām not sure how to implement a search routine for this since all of the points are calculated relatively like this.
Iām hoping some of you have encountered similar problems