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+--- Thread: Detect collisions of boxes during stacking (/Thread-Detect-collisions-of-boxes-during-stacking)
Detect collisions of boxes during stacking-roeslib-08-05-2022
when stacking boxes the robot performs joint movements and during this movement a box collides with another box close to its positioning place.
I want to evaluate the movement before it is performed and know if there will be collisions with other boxes so I could decrease the height of the extender to avoid collisions.
The whole palletizing process is done with Python. Please could you guide me on what commands I should use or what I could do to detect collisions?
RE: Detect collisions of boxes during stacking-Sam-08-05-2022
Hi,
Are you using the Palletizing Plugin by RoboDK?
//www.sinclairbody.com/doc/en/Palletizing.html#PalletizingProject
If not, there are API calls that checks for collisions, such as:
//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Item.MoveJ_Test
//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Robolink.Collisions
//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Robolink.Collision
RE: Detect collisions of boxes during stacking-roeslib-08-05-2022
Hallo Sam,
thanks for your answer. I cannot use the palletizing tool because my input is an xml file where each line describes the characteristics of the boxes (different dimensions). The commands you suggest me are applied during the movement of the robot, what I want is to evaluate if there are collisions between boxes previously knowing the target before the robot moves.
Could you please suggest me a solution.
Thanks.
Libia
RE: Detect collisions of boxes during stacking-Sam-08-05-2022
Hi Libia,
The command I linked do not move the robot. You can use them to test if you can move upfront.