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Rhino file for above ^ (accidentally did not attach both).

Thank you for the response. I'm still having a lot of trouble removing these unnecessary movements, some of which are resulting in singularities or collisions. I've attached file here if you could look and tell me where I need to adjust? The robot also does some of these extra movements in the simulation.

Another question. I've programmed the robot to mill a symmetrical vase, the turntable turns and the robot simply needs to move up and down. However, I am getting a lot of unnecessary movement of the robot (it will move with the turntable, the TCP staying at the same point on the geometry), then the turntable will spin and the robot head will stay still so it can mill a path. Then it does the same thing (moves with the turntable, then back, then the turntable moves and it mills the next path). How can I remove this unnecessary movement? I was thinking of using Galapagos, but there aren't any parameters I can plug it into to change this.

I am having the exact same issue every time I start a new program. The robot first goes to a point near the table where I have directed it, and then using the tutorial file for turntable you had posted, I have created a geometry on the table. The table begins rotating, but every single time the robot moves to the exact same position, where it maxes out A1 and A2 and turns the tool back towards itself. If I change the side of the geometry the robot should milling on, it still goes to this same position. The simulation works fine, but there seems to be an error translating to the actual robot. Is this a common error/easy fix?

Another question. I have a simulation where the DKP400 is spinning and the tool is moving up and down as it should for milling. However, the tool is located on the wrong side of the geometry (causing unreachable points). How can I specify in grasshopper to have the tool be on the other side of the geometry?

Yes, thank you!

The KRL files produced by kuka prc give coordinates relative to the turntable as the base. However, the robot is reading these as coordinates relative to its own base. For example, in the simulation if the robot is moving to a position where x is -900, it is moving -900 relative to turntable. In reality, robot tries to move -900 relative to its own base. How can I fix this issue?

I built a virtual cell to model the positions of my robot and DKP400 turntable. I moved the DKP400 relative to the robot using X,Y, and Z value in Positioner Root Frame menu when you click on the DKP400 component in grasshopper so the virtual cell matches my environment.

 However, I am simulating a simple curve to have the robot trace to test for milling, located above the DKP, not using any of its axes, just the robot by itself. Everything looks correct in the simulation, but when I run it on my robot, the robot goes to the floor, as if the curve is located below it. If I move the curve in X,Y, and Z by the same coordinates of the turn table, the curve looks extremely off in the simulation (located way too far away, unreachable). But if I remove the turntable and just plug in the robot to the ROBOT in the CORE component, the robot's location moves in the simulation and can reach the curve just fine, and it runs correctly on the real robot.

How can I implement the DKP into grasshopper without it causing the robot to be moved so far from its original position and place the DKP where it should be?