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+--- Thread: Is RoboDK v3.6 integrated with collision detection while path planning? (/Thread-Is-RoboDK-v3-6-integrated-with-collision-detection-while-path-planning)
Is RoboDK v3.6 integrated with collision detection while path planning?-Lakshmi-04-11-2019
我新RoboDK w和我遇到3.6版本here 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.
RE: Is RoboDK3.6 is integrated with collision detection while path planning?-Albert-04-11-2019
To activate the automatic collision avoidance features you should select:
- Tools - Plug-Ins
- Load Plug-In
- Select CollisionFreePlanner.dll
If you don't see the Load Plug-In option in the Tools menu you should update RoboDK to the latest version.
RE: Is RoboDK v3.6 integrated with collision detection while path planning?-Lakshmi-04-15-2019
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?
RE: Is RoboDK v3.6 integrated with collision detection while path planning?-Albert-04-15-2019
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-Collision-Avoidance?pid=1114#pid1114
RE: Is RoboDK v3.6 integrated with collision detection while path planning?-Lakshmi-04-24-2019
(04-15-2019, 12:11 PM)Albert Wrote: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-Collision-Avoidance?pid=1114#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.