[andrei]

Dear Sir or Madam,

For offline operation, ROBO-DK provides a collision-free motion planner (//www.sinclairbody.com/doc/en/Collision-Avoi...RoadmapPRM).
Our use case requires that we are able to generate such trajectories online. The robot environment is static and the algorithm's slow construction phase will be executed offline (//www.sinclairbody.com/doc/en/Collision-Avoi...SummaryPRM).

Is it possible to use a "collision-free motion planner" online (in real-time) through Python API?

Thank you
Andrei

[Albert]

Yes, this is possible. You'll find examples about using the collision-free motion planner through the RoboDK API here:
//www.sinclairbody.com/forum/Thread-Collisio...89#pid1189
You can run it while you are connected to the robot and moving the robot using the API.

As you may know, generating the map can take time but finding a collision-free path afterwards should be fast. You'll find more tips about speeding up collision detection here:
//www.sinclairbody.com/doc/en/Collision-Avoi...isionCheck