Tool face always parallel to the plane

[Lior]

Hey there,
we have a surface with a curve and want the robot to follow this surface. How can we make sure that the robot tool face is parallel to the plane at all times?

[Johannes @ Robots in Architecture]

Hello Lior,

Do you mean normal to the surface? If you did mean parallel, you just need to transform the plane.
Here is a quick example where the tool is normal to the surface.

Best,
Johannes