How to make a spiral motion on a surface of 5cm * 3cm using universal robot?

Cobots program Insertion Node by Robotiq UR+ Solution

Side view of spiral trajectory around the Universal Robots UR10 robot

MoveP (Process movements – Circular Move). – UR Forum-Help-Q&A

Aruna Motion Rotary Table for Universal Robots

Experimental setup consisting of a Stewart platform, UR3 robotic arm

Universal Robots Mirroring Movement

Universal Robots Proper Pendant Use: Slow & Steady Movement

Side view of spiral trajectory around the Universal Robots UR10 robot

a) Experiment setup for the escaping test. The robot arm only moves up

Spiral Move – UR Forum-Help-Q&A

Applied Sciences, Free Full-Text

Conical Helix Movement - URScript - Universal Robots Forum

UR+ 3D Mouse Move

Set up tool , Center of gravity , Payload using Universal Robots Lesson 5