Collision Detection Specification Menu

The collision detection specifications allow you to define parameters used to avoid collisions with static obstacles in the workspace. During operation, the path of the robot tool tip is automatically tested to ensure that it does not collide with these objects under the following circumstances: when the robot is being moved in WORLD or TOOL manual control mode; when the destination of each motion is being planned; and while straight-line motions are being performed.

When you select a menu option, the following information is provided on screen:

For additional information on the available menu options, see Menu Options below.

CAUTION: Because the collision detection references the tool point of the end-effector, which is typically at the center of the tooling, you generally should add 1/2 of the diameter of the robot's end-of-arm tooling to each surface of the actual obstacle being modeled.

User-Defined Obstacle Definition Screen

Menu Option

Cartesian obstacle #n

Define the shape, location, and size of Cartesian Obstacle #n. You can define up to four obstacles for Adept robots, and up to six obstacles for non-Adept robots.

Shape

Enter the desired value for the object shape. The list of shape parameters may vary depending on the type of object selected (box, cylinder, sphere or frustum).

Location

Define the location (centroid and rotation) with respect to the base reference frame of the robot when its BASE transformation is null.

Size

Specify the dimensions (in millimeters) of the object, as follows:

For a box Length in X direction
Length in Y direction
Height in Z direction
For a cylinder Diameter
Height in Z direction
For a sphere Diameter
For a frustum Base diameter
Height in Z direction
Top diameter

The following figure Sample Collision Detection Options for Box Shape shows an example of a completed screen.

Sample Collision Detection Options for Box Shape