I am Kentaroh from school of Architecture in UTAS. Thank you for your Grasshopper Kuka definition. It was a great help.
However, we think that we are currently having an issue with it. When we use it with our robot, the definition causes a large rotation in axis A4, A5 and A6 . As a result, even if the prc simulation is OK, in reality cables of our Kuka robot arm wrap around the arm, and make the operation impossible. Is there any definitions to control or limit these axis in the Kuka Grasshopper definitions? So, ideally we would like our robot to cut without unnecessary rotations which causes a lot of troubles to the robot.
If we get help from you, it will be fantastic.
Here is a video and our Kuka prc definition and rhino file.