Perpendicular movement for ABB robot

[Chow_Jo_Onn]

Hi, have anyone use ABB robot to do 3d Printing controlled by Rhino/Grasshopper. Did anyone know how to make the TCP of the ABB robot to move always perpendicularly with print path that I created. Below is the sketch of the effect I would like to have, thanks.

megatron tech park level 4 05062025 with angle to Quaternion (1).gh (87.3 KB)

[Chow_Jo_Onn]

the video of it

[martinsiegrist]

3D printing with Grasshopper

Hi, I currently facing a problem is that my ABB robot TCP (Tool Center Point) is not perpendicular with the my print path when encounter curve path, have any ideas to create plane perpendicular to the curve in grasshopper? Below the sketch of what I wish the robot move like. Thanks! [WhatsApp Image 2026-07-10 at 3.42.07 PM]

Connecting curves into one looping path for printing - Grasshopper - McNeel Forum