Continuous TCP transformation

Hey guys. I am just trying to figure out on what I can do to transform the TCP Coordinatesystem as a function over time.

If you just put another transformation matrix on ur forwardkinematics, the differential Inverse Kinematics stop working if the difference between new TCP and usual TCP gets too big.

For better understanding: imagine there’s a 3D printer nozzle at a fixed orientation and position in the workspace, and u put an object that u wanna print on, on the Endeffektor.

The desired printing path is a Funktion over time, and transforms the printing point(The new TCP) over the surface of the object that’s fixed on ur robot manipulator.

I have to solve the inverse differential Kinematics for that printing point.

Any ideas on how that could be done?

submitted by /u/Centauri24
[link] [comments]