[Lakshmi]

I am new to RoboDK and I came across 3.6 version where it is said that PRM is added for collision detection. I am trying to a motion planning algorithm which can detect collisions while planning the path and same time control cartesian velocity. Please guide me.

Thanks,
Lakshmi.

[Albert]

To activate the automatic collision avoidance features you should select:

1. Tools - Plug-Ins
   
2. Load Plug-In
   
3. Select CollisionFreePlanner.dll
   

你应该有fr的特性om the collision free planner (PRM features). This plugin should be loaded by default.

If you don't see the Load Plug-In option in the Tools menu you should update RoboDK to the latest version.

[Lakshmi]

Sorry I am new to RoboDK , you mean to suggest it considers collisions like ROS Moveit while planning a path with movep() or movel() command while moving from one point to another point by adding the plug-in.

I can see check collisions under tools but there is no option of plugins . Is this collision detection dynamic or static? I mean to ask does it detect only collisions with objects loaded in the simulation or when object comes in collision in real robot in real environment? I tried giving point inside an box object. It moves to the target point without considering collisions . Do I need to add a check mark on collision detection or something?

[Albert]

You can activate collision checking using:
Tools-Check collisions

You should also define your collision map settings here:
Tools-Collision map

More information here:
//www.sinclairbody.com/doc/en/General.html#Collisions

You can check collisions dinamically if you are connected to the robot, however, you'll detect a collision when the robot is already collided. It is better to anticipate collision by running a simulation first or by using the automated/collision-free path planning (PRM) new feature. More information here:
//www.sinclairbody.com/forum/Thread-Collisio...14#pid1114

[Lakshmi]

You can activate collision checking using:
Tools-Check collisions

You should also define your collision map settings here:
Tools-Collision map

More information here:
//www.sinclairbody.com/doc/en/General.html#Collisions

You can check collisions dinamically if you are connected to the robot, however, you'll detect a collision when the robot is already collided. It is better to anticipate collision by running a simulation first or by using the automated/collision-free path planning (PRM) new feature. More information here:
//www.sinclairbody.com/forum/Thread-Collisio...14#pid1114

I activated Tool- Check collisions , in simulation i find that it keeps colliding and need to move back to home position, so that it plans again but still it might result into collision or it might not. I understand you were trying to tell the same thing , so every time the environment changes the robot has to be thought about the surroundings and teach it until it plans without collision right? It means it doesn't consider collision detection while planning ?

Kindly let me know if something is wrong.