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Collision Avoidance
#1
I'm working with RoboDK's simulator to test a Fanuc M-710iC/45M using the RoboDK Python API and can't seem to generate paths that automatically avoid collisions. The collision map is setup so collisions are checked for the right objects, but the program exits after a joint move causes a collision.

Is that a feature of RoboDK? Pages like https://robodk.com/examples mention avoiding collisions automatically, but it's not clear if the library handles the pathing or the user is expected to check the path and make adjustments manually.

Thanks for any help.
#2
Hi Micronexx, 

RoboDK can avoid singularities automatically. 

On the other hand, RoboDK can detect collision in the simulation. To activate this option, you just need to click on that icon :
   

Once the software has detected a collision, you will know exactly where it happens and you will be able to apply the needed corrections. 

Jeremy
#3
I don't know what your background is, but if you want more of an 'on the fly' motion planner you can use this:

http://ompl.kavrakilab.org/

It's a motion planner that can plan a trajectory through space while avoiding collisions with other objects and the environment. It's a bit of a learning curve but it can do exactly what you need
#4
Thanks for the share mattmctr !
#5
(11-07-2018, 01:56 AM)mattmct Wrote: I don't know what your background is, but if you want more of an 'on the fly' motion planner you can use this:

http://ompl.kavrakilab.org/

It's a motion planner that can plan a trajectory through space while avoiding collisions with other objects and the environment. It's a bit of a learning curve but it can do exactly what you need

Definitely looks like it does what I want, thanks.
#6
RoboDK allows you to automatically avoid collisions for robot manufacturing applications, such as robot machining or robot welding. This is meant to be an easy way to avoid collisions. However, the main degree of freedom that is automatically calculated to avoid collisions is the rotation around the Z axis of the tool. You can activate this option here:
Tools-Options-Allow automatic collision avoidance
Then, in your curve follow project you'll see an "Avoid collisions" checkbox. It is very important to properly define and filter your collision map, otherwise, collision detection can take a long time.
   

Alternatively, if you are looking for a motion planning library to implement yourself I recommend you to take a look at the following project:
https://github.com/hamzamerzic/bubbles-motion-planning
It is a nice algorithm and you have some tools to export your program in RoboDK, as shown in the GIF images.
   
  




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