Safe approach / retract
- Andrew Haggerty
Safe approach / retract settings allow for additional robot control when approaching or retracting from an operation. It can be used to avoid collisions or resolve kinematic errors. This is the simplest form of “transition”, only adding a single point to the point list per movement.
Navigation
Safe approach / retract is accessible through the operation level settings on the device side of Robotmaster.
Enable and disable
The Safe approach point and Safe retract point can be enabled and disabled individually with the sliders at the right of the panel.
Point settings
A safe approach or retract point consists of 3 settings to fully define the movement.
Motion Type
The movement can be either Joint or Linear.
Joint
Linear
Axis
The axis constraining the movement direction. This axis is defined by the path mounting/anchor frame, not the user frame.
X
Y
Z
Value
The distance in mm to move along the specified axis. This distance is measured from the path mounting/anchor frame, not from the previous point.
Point list representation
In the point list, Safe approach / retract moves will show up as SA (safe approach) or SR (safe retract).