Seeking Guidance on Polyscope Programming for Milling Process Alignment

General Application Help: How do I?
1

Hello community,

I’m currently working on programming a robotic arm using Polyscope, specifically for a milling process. I need assistance with ensuring that the tool center point (TCP) of the milling tool stays aligned perpendicularly to the selected points on a designated plane throughout the entire process.

Could anyone provide guidance on the specific steps or functions within Polyscope that allow me to achieve and maintain this alignment? Additionally, if there’s a particular section in the manual that covers this topic, could you please point me to it?

I appreciate any insights or links to relevant documentation that can help clarify this aspect of programming within Polyscope.

Thank you in advance for your assistance!

2

If there’s a particular section in the manual that covers joint locking or constraining, could you please point me to it?

3

Section 21.10 Joint Limits in safety settings.
For TCP orientation you can use moves relative to a user defined feature frame. Feature frames are in manual section 24.17.
Features can be transformed by the running program.

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