About robot External TCP

[lukin558]

How to implement the application of external TCP?

For example, a robot arm grabs an irregular object Grinding a circle of trajectory（use path） on a fixed grinding wheel.

At this time, the grinding wheel is fixed and the robot arm is moving.

[coppelia]

Hello,
how about using IK?

Cheers

[lukin558]

Thank you for answering my questions.

I tested model is ABB IRB4600 from vrep robot library