Hello Bob,
There you go, please find attached a quick definition. Also take a look at the files in the tutorial sections. Regarding the project, some things are important to keep in mind:
- If you're moving in a spiral, you will "wind" the robot up - every axis has got a certain axis limit, and if you keep turning in the same direction it will run into that limit. For some robots, you can set the axis 4 and 6 to infinite rotation, which would be helpful for your project (the Agilus for example can NOT rotate A4 infinitely as A4 contains the pressured air tubing).
- Even if the robot can move everywhere, the cable of your tool may wind itself around the robot.
- The "winding up" is not simulated in the "free" KUKA|prc, I would recommend taking a look at the member version, for which I can issue you a temporary license. Just send me an eMail.
All the best,
Johannes