[Hiroe]

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.

[Sam]

Hi Hiroe,

You can attach transparent geometries to your robot links in RoboDK to add simulated "padding".
For instance, you could use scale a robot link by 10% and attach it to the robot as a transparent link.

Here are a few examples on how to attach to robot links:

• //www.sinclairbody.com/doc/en/PythonAPI/exam...robot-link
  
• https://github.com/RoboDK/Plug-In-Interf...tachObject
  

You can also calibrate frames in your RoboDK station using your robot (right click a frame->Define Reference Frame) to better represent the position of objects.

最后,您可以优化collision check steps in Tools->Motion->Collision checking.