This article covers several ways of editing adjusting operations to avoid collisions for simultaneous multi-robot work areasin work cells with multiple robots.
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Background
A dome As an example, a dome-shaped part requires edge following operations on five contours.
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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 executed, lessening the chance of a collision.
Use the control handle to drag the operation to a different place in the sequence.
Select Calculate to see if the collision is cleared.
As you rearrange operations, the robot’s trajectories will changeRearranging the sequence of operations will also affect robot motion, including moves to and from home position and moves between operations. Pay attention to these changes and resolve any kinematic issues if they arise.
Reassign operations to different robots
If the multiple robots are using use 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.
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