Using kuka PRC, I am trying to orient the kuka robot to 3D print perpendicular to the toolpath. Depending on the geometry, I create a tool path and then subdivide it into points creating a plane normal on every point. This works when the tool path is in the XY direction (horizontal). For an inclined or non planar toolpath, how to I go about creating normals that are perpendicular to the toolpath? Thank you.
