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NEEDS TO BE UPDATED TO PROPER BEHAVIOR OF ENVELOPES VS INTERFERENCE

Envelopes Safety envelopes are geometry that can either be generated or imported onto joints to provide additional options for collision checking.

Table of Contents
stylenone

Safety envelope generation

Safety envelopes can be generated based on robot joint geometry.

  • Open the safety envelope creation tool by right clicking on a robot joint and selecting “create envelope”interference shape”.

    image-20240508-181631.pngImage Removedimage-20240717-170733.pngImage Added
  • The safety envelope creation tool has 2 settings to adjust:.

    image-20240508-181815.pngImage Removedimage-20240717-170837.pngImage Added

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Shape extension (mm)

The distance from the underlying joint CAD that the envelope interference shape will be extended.

Extension types

  • Blow-up -
    Creates an envelope interference shape that matches the shape each underlying CAD body of the joint.

    image-20240508-182119.png
  • Box -
    Creates an envelope interference in the shape of a box.

    image-20240508-182204.png
  • Cylinder -
    Creates an envelope interference in the shape of a cylinder.

    image-20240508-182242.png
  • Sphere -
    Creates an envelope interference in the shape of a sphere.

    image-20240508-182326.png
  • Wrap -
    Creates an envelope interference shape that wraps around the shape of the underlying group of CAD bodies.

    image-20240508-182439.png

Safety envelope CAD import

If the built in Robotmaster safety envelope generation is not sufficient for user needs, imported CAD can be made a child of a robot joint, and then changed into a safety envelope object type.

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