[Arno.Klocke_Estia]

Hello,

First of all thank you so much for the RoboDK software it's the best OLP software I have ever tried !
 
I am working on a project for bicycle frame welding. I am extracting geometries from Rhino Grasshopper to RoboDK either as targets or as curves. I wanted to use CFP in order to smooth have curves with IJK to permit a 180 deg around the tool but I have some issues using the avoid collision option.

You will find attached the RDK file with the cell.

The first CFP creates very smooth motion without big joint jumps but with a collision on the tool (photo : Collision_welding_torch.png) 

The second CFP on the file has the avoid collision tickbox checked but doesnt converge to a solution (stops before the collision).

The third is a manual program I did using joints target from the first CFP program and manually adjusting the orientation of the torch on the last points to avoid collision. (photo : No_Collision_welding_torch.png) 

Is there something I have done wrong in the parameters of the curve follow project ? Is there a better way to achieve the result from the 3rd program using CFP ? 
Thank you so much 
Arno Klocke

[Albert]

I understand this is almost the same question as this thread:
https://robodk.com/forum/Thread-Welding-...-questions

I just got back to you in this other thread.

If that's OK with you I'll delete this thread. We can keep the conversation on the other thread if you need more help or have any other questions.

[Arno.Klocke_Estia]

Hello Albert yes absolutely you can delete this thread ! Thank you