Optimization allows for the dynamic adjustment of tool orientation and other TCP controls throughout the duration of an operation, to help avoid kinematic errors and collisions.
Navigation
Optimization is accessible through the operation level settings on the device side of Robotmaster.
Feature overview
When more standard path editing techniques, and Tool orientation settings aren’t able to fix kinematic errors or collisions, the optimization map allows the user to dynamically adjust values throughout an operation, instead of selecting one constant value for the entirety. Through the use of the map settings, advanced layers, and path planning, the optimization map gives a visual two dimensional map of valid values.
Map settings
Open map settings
The gear button opens up map settings.
Generate map - determines when the optimization map will be drawn.
Always - Will always draw the map when Generate map is pressed.
On Error - Will only draw the map if there are detected errors.
Never - Will not generate a map.
Calculate conditioning map - Determines whether the conditional map layer is calculated. This can be a heavy calculation feature, so is off by default. See the advanced layers section of this article for more information on conditional mapping.
Vertical snap increments - Allows automatic snapping of the path line to certain increments of the vertical axis.
Additional maps - Allows for the addition of other optimization maps. Click the plus button to add a new map.
Visualized error types
Singularity
Out of reach
Joint limit
Overtravel
Wrist flip
Collision
Vertical resolution
Determines the vertical resolution of the optimization map. This value is adjustable to allow for balancing of calculation time versus map detail.
Horizontal resolution
Determines the horizontal resolution of the optimization map. This value is adjustable to allow for balancing of calculation time versus map detail.
