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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

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!