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Collision-free motion planner for a robot on a track

I would like to use the Collision-free motion planner for a Fanuc robot on a track. 
Right now this seems not to be possible: When I press 'Update Map', a message says: "The robot joints reached the limit".
Adding this functionality would be helpfull. 
For the time being, now this feature is not implemented yet, it would be helpfull to add a warning/error which tells the user that Collision-free motion planner does not work yet for a project with a 7th axis. (That would have saved me some time ;o)

Best regards,

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