Robot Collisions

This section introduces issues related to robot collisions and provides solutions.

When a robot collision occurs, the following issues may arise:

  • Gripper Collides with Target Object

  • Robot Body Collides with Bin

  • Robot Body Collides with Bin

  • Robot Body or Gripper Collides with Scene Object

  • Held Target Object Collides with Scene Object or Other Target Objects

Please troubleshoot based on the specific symptoms of the issue.

The following sections on collision detection configuration will use Mech-Viz for explanation.

Gripper Collides with Target Object

Symptom:

The path planning is successful, but there is a collision between the gripper and the target object.

Solution:

Please address the issue by the following steps:

  1. In the Collision Detection Configuration window, enable Detect collision between point cloud and others.

  2. In the Configuration on tool area, decrease Collision volume threshold.

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