We sometimes experience something like a robot does not collide with the device in a simulator, but it does hit peripheral equipment in an actual robot cell due to errors in setting positions.
In order to avoid it, we would like to request a feature such as giving some additional space to robots/grippers in using collision detection.
If someone has the same issues and knows to solve them, please share your ideas.
The manual approach would be to copy/paste your object in RoboDK and use the scale function (Object->Options->More Options->Apply Scale) to increase its size by X% (which you can calculate with the measuring tools if you want 2mm).
If you need directional scaling, Tools->Run Script->ScaleXYZ is also available.
Both options above can be done with the API.
You can set the parent of these scaled object as the original object so that you don't rely on an additional plugin.
Would that work better for your application?
Hi Sam, thanks for the reply.
Unfortunately, scaling would not work very well. The objects I want to check collisions against are complicated geometries and it is not straightforward to scale them to achieve a universal fixed offset (even using scale factors unique to each dimension). For example, the hole of a doughnut gets larger when scaled, which would yield a non-conservative clearance result.
I think the best workaround so far is to make clearance box bodies in Solidworks and import those into RoboDK. That is still not a trivial task though, because a complex geometry requires a great number of offset surfaces to create a 2mm clearance box. I may end up putting in the effort to implement this workaround, but a clearance function would be a much cleaner solution and give me more confidence in my results.
The other reason this would be useful is to allow the clearance to be varied.
For example, in some cases, I could accept 1.5mm of clearance, but in others, I would be nervous about 4mm of clearance.
Additionally, it would be useful to know what the minimum resulting clearance is after visiting a particular set of targets.