Multiple TCP on single Tool

[sol_jkhc]

Hello all,

I am trying to solve for a way to allow kuka prc to understand that a grinding wheel has multiple points across the grinding wheel surface that it can use to grind with. How can I create this behavior with Kuka PRC, as far as I can tell, I would need to do a tool change every time, which would potentially cause the grinder to dwell in a spot.

Could I segment the motion, so that if normally going from A to B in an arc like path, the robot would instead start from tcp position 1, go from A to A'(top of arc), change to tool tcp position 2, A' to B(end/bottom of arc).

[Johannes @ Robots in Architecture]

Hmmm... I think the way to go would be to define a single TCP and then calculate the offset from the path geometrically in Grasshopper.
Just an idea: You could try to set the TCP to the center of the wheel and offset the toolpath according to the wheel radius. That should ensure that no part of the path could damage parts of your part.
If it's more complex than that, you could look into physics/particle simulation like Kangaroo to define some constraints for your wheel.

Best,
Johannes