Collision Detection

Select ToolsCollision Avoidance - Image 1 Check collisions to turn collision detection On or Off. If collision detection is activated, all programs and robot movements will stop when a collision is detected. All objects, tools and robot links in a collision state will be highlighted in red when the simulation is in a collision state.

Follow these steps to safely check a program for collisions:

1.Right click a program.

2.Select Check path and Collisions (Shift+F5). This option quickly checks if the path is feasible (same as Check path – F5) and then validates that there are no collisions.

Collision Avoidance - Image 2

Collision Map

You can specify if the interaction between any pair of objects needs to be checked for collisions.

Select ToolsCollision Avoidance - Image 3 Collision map to display the relationship between all moving objects in your cell and the collision check state. Double click a cell to activate or deactivate collision checking for that relationship. Select Set default selection to automatically set up a conservative selection.

By default, RoboDK checks collisions between all moving objects in the station, including all robot links, objects and tools. As an exception, consecutive robot joints are not checked for collisions as they may always in contact.

Collision Avoidance - Image 4

Faster Collision Detection

Collision detection speed highly depends on many factors.

1.The number of pairs of checks defined in the collision map. Having a collision map with less checks will be faster.

2.The robot step used for collision checking. The collision step can be modified in the ToolsOptionsMotion menu. Linear movements use the step in millimeters and joint movements use the step in degrees. A larger step will provide faster collision checking but the result may be less accurate.

3.Computer power: more computer power (faster CPU) and more processing threads will allow you to have faster collision checking.

4.The complexity of the 3D files. Geometries with higher level of detail, such as rounded areas, usually require more computation power. Simplifying these geometries and reducing the number of triangles will help you speed up collision checking.