...
| Table of Contents | ||
|---|---|---|
|
Background
A dome shaped part requires edge following operations on five contours.
...
There are many ways to solve collisions between robots. Let’s take a look at a few possible solutions.
Rearrange operations for a robot
One way of solving collisions is to change the sequence in which operations are performed for a given robot.
...
As you rearrange operations, the robot’s trajectories will change, including moves to and from home position and between operations. Pay attention to these changes and resolve any kinematic issues if they arise.
Reassign operations to different robots
If the robots are using the same application (for example, if they are both equipped with interchangeable deburring tools), reassigning operations to different robots can solve collisions.
Use the control handle to drag the operation to a different robot.
Adjust the sequence of operations for that robot, if needed.
Select Calculate to see if the collision is cleared.
...
Move start point
In some cases, moving the entry/exit point on one of the paths may solve a collision. This can affect timing so that robots do not collide.
On the Device tab, in the Operations pane, right-click an operation and select Edit in task.
Select the path, then click the red ball at the entry/exit point.
Click a point along the path to move the entry/exit to a different location.
On the Task tab, select Apply and then OK to keep your changes.
On the Device tab, select Calculate.
Check to see if the collision still occurs.
...
Change path direction
For applications where it is possible to change the direction in which a path is processed, you can try reversing the path direction to solve collisions.
...