...
In some cases, the default robot trajectories for the multiple robots may result in collisions between the robots.
...
...
One way to solve a collision is to move the entry / exit point on one of the paths.
...
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.
In the Task tab, select Apply and then OK to keep your changes.
In the Device tab, select Calculate.
Confirm that the collision no longer 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.
On the Device tab, in the Operations pane, right-click an operation and select Edit in task.
Right-click the path (be sure to right-click one of the vectors on the path), then select Path > Invert direction.
Confirm that the path direction is reversed.
In the Task tab, select Apply and then OK to keep your changes.
In the Device tab, select Calculate.
Rearrange operations
Another way of solving collisions is to plan and rearrange operations. This can be done by changing Show multiple collisions in series of images…
Rearrange operations for a robot
One way of solving collisions change the sequence in which operations are performed for a given robot.Change the sequence of operations for one of the robots:
Here Robot_1 is processing operations 1 and 2, and Robot_2 is processing operations 3, 4, and 5:.
...
Operations 1 and 3 may be are too close together to process simultaneously. Instead the sequence of Robot_2 could be changed so that operation 4 is processed first. This would leave more space between Robot_1 and Robot_2 as the operations are processed, lessening the chance of collision.
...
As you rearrange operations, the robot trajectories will be updated. Pay attention to the changes in paths as the robots move between home positions, and between operations.
...
Reassign operations to different robots
If the robots are performing the same application (for example, if they are both equipped with interchangeable deburring tools), reassigning operations to different robots can solve collisions.
...
Move operations from one robot to another
Further reading
What about velocities, accelerations, and real-world deviation from programmed paths?
Use safety envelopes to give “buffer” for collisions, add them as intereference groups in the cell.
Do multiple robot cells communicate with one another? Are they equipped with sensors to detect adjacent robot position?
Spatial
If you plan a progam so that the robots never occupy the same space at any point in time, this is the safest with least chance of collision.
Temporal
If two robots must occupy the same space due to the required trajectories, timing the operations is critical for minimizing risk of collisions.
How much time to leave between operations' intersections in space? 1 second, 30 seconds?
...
Move start point
One possible way to solve a collision is to move the entry / exit point on one of the paths. 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.
In the Task tab, select Apply and then OK to keep your changes.
In 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.
On the Device tab, in the Operations pane, right-click an operation and select Edit in task.
Right-click the path (be sure to right-click one of the vectors on the path), then select Path > Invert direction.
Confirm that the path direction is reversed.
In the Task tab, select Apply and then OK to keep your changes.
In the Device tab, select Calculate.