[gckgck]

Hi, I am doing a robot trajectory planning where i have a robot + external linear rail (added into robodk using My Mechanism) to extend the reach of the robot. Currently, i have to break the robot path into 2 segment, 1. curve follow project to move the robot to its maximum reach -> 2. linear movement of the rail to move beyond the robot individual reach.

Is it possible for curve follow project to have control of both the robot and linear rail (via my mechanism) concurrently?

[Albert]

Yes, you can move both the robot and the rail as one mechanism. Make sure you synchronize the mechanism and use the optimization settings to configure how you want to move the combined mechanism. You can find more information here:
https://robodk.com/doc/en/General.html#SyncAxes

[gckgck]

Hi Albert,

Thanks, i can get both robot and linear rail to move as one mechanism now.

For my application, i would require the robot to move within a long cylinder, inspecting the interior surface. There are some configurations of the robot/linear rail which can cause collision with the walls of the cylinder. Is there an option or function that can allow for the axes optimization to draw information from the collision checker, such that it can filter out those robot path that causes collision?

[Albert]

You can enable collision checking by following these steps:

1. Select Tools-Options
   
2. Select CAM
   
3. Check the option Allow Automatic Collision Avoidance
   

You'll then find the option Avoid collisions in your curve follow projects or robot machining projects.

However, I recommend you to properly configure your collision map and simplify the geometry as much as possible because checking for collisions will slow down solving the path in a fully automated manner.

[gckgck]

This is very helpful, thanks!