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Thank you for your reply, Johannes.
Is there any efficient way to resolve this problem or just do it by the trial-and-error way?

Cheers

Hi Wall-E
The smaller one is the cluster I used to draw my welding head. I will try your way.

Thank you!

Stanley

Hi Johannes:
I'm trying to weld a spline with a KUKA robot arm. The position of the robot and the plate that can be welded on are both kinda fixed already. I am trying to find the tightest curve can be welded in our working cell.However, when I run the simulation, there are lots of singularities. I don't know how I could avoid these singularities.  Could you please offer me some advice?
The grasshopper files and a photo of our working cells are in the attachments.

Thanks, Stanley

Hi Johannes:

I'd like to ask is it possible to set different speed for the creation of one spline? For example, in the attached picture, can I slow down the robot when it is welding the curved part(the middle part of the spline) and speed up for the line (the first and last part) of the spline?
I hope to do this modification to the previous program we have discussed about.
Could you please advise?

Best Regards
Stanely

Thank you so much for your suggestion. It helps a lot.

Sorry, I attached a wrong cluster, you should download this one.

Thank you for your replying Johannes.

This is my dissertation project.

What I meant is that in the picture you can see for each layer the toolpath is from left to right. I would like to change toolpath to a right-to-left direction for the layer following the left to right one.

I also attach my cluster file in case it cannot be opened.

Hello:
I am trying to design a path generation program for WAAM. The program I designed can only create each layer in the forward direction. But I also want to make it possible to create layers in forward and reverse direction. I attached my file.

Please have a look and advise.

Best wishes!