[Abhirup Guha Roy]

I am currently working on creating a simulation of 9 axis robot using RoboDk, where by robot is programmed to follow a path using the curve follow project. However, I've encountered a problem where the robot collides with the nearby objects while doing the execution.

As far as i have discovered there is a collision free pth planner for two defined targets but not yet for a 'curve follow project'. I have tried adjusting the parameters manually and even testing it with python program, but not getting any fruitful results.

Could you please let me know, any recommended way to avoid the collisions in this workflow. Alternatively, is there any plugins or feature that can help optimize the curve follow path from collision detection.

Any help is much needed on this particular topic.

[Albert]

The collision-free planner plugin can help you find a collision-free path between 2 or more points, but not if you need to follow a curve.

Instead, I recommend you to use the optimization settings helping the external axes to remain in the right area. For example for your first toolpath you should force Axis 9 (axis 3 of your H-bot) to remain on one end of the limit. You can use the preset "Keep External Axes Reference", use the J9 of 1150 mm or something nearby. Then use a small weight to penalize moving each axis (5). Using this settings solves the path without collisions but you can fine tune these settings to maintain the external axis where you want it to be. Also, the preferred joints for the start point is very important as the external axis will start from there (robot joints may change to match a valid position to reach the first point).

You can see the attached image showing the settings I changed.