This article covers several ways of editing operations to avoid collisions for simultaneous multi-robot work areas. Procedure on how to rearrange and change path directions, moving the entry / exit point,
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One way of solving collisions is to change the sequence in which operations are executed performed for a given robot.
Here In this example, Robot_1 is executing processing operations 1 and 2, and Robot_2 is executing processing operations 3, 4, and 5.:
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Operations 1 and 3 are executed by different robots, and there There is a collision between the joints of the different robots when operations 1 and 3 are processed.
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This is due to the proximity and timing of the two paths.
Instead the 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 processedexecuted, lessening the chance of collision.
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As you rearrange operations, the robot robot’s trajectories will be updatedchange, including moves to and from home position and between operations. Pay attention to these changes as the robots move between home positions and between operationsand resolve any kinematic issues if they arise.
Reassign operations to different robots
If the robots are performing 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, as if needed.
Select Calculate to see if the collision is cleared.
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Move start point
One A 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.
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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.
Do not use this method for applications where path direction should not reversed, such as with plasma cutting.