Configure collision detection
Collision configuration is used to detect and avoid possible collisions. By default, collisions between any two of the robot, robot tool, and scene objects will be detected. Once Enable collision detection with point cloud is enabled, the collision between the input point cloud and the robot tool will be detected.
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Click the Collision Configuration button in the toolbar and Enable collision detection with point cloud.
Set the following parameters based on the project’s allowed level of collisions.
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Point cloud cube side length
In the collision detection, cubes with each point in the point cloud as their centers will be generated. Detecting the collision between the tool and the point cloud is actually detecting the collision between the tool and the cubes. The longer the cube’s side length, the higher the possibility of the tool colliding with the point cloud, and the larger the collision volume.
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Tool-point cloud collision volume threshold
When the collision volume between the tool and the point cloud is above the set threshold, it will be assumed that a collision occurs; otherwise, it will be assumed that no collision occurs.
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Point cloud collision record
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Record: The plan history will record the positions and quantity of the point clouds where collisions occur. When the user views the planning history, the recorded point cloud will be highlighted in the 3D simulation area. Recording affects the execution speed.
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Do not record: The user will not be able to trace which part of the point cloud was involved in collision(s) in the plan history. On the other side, the execution speed is higher when not recording the point cloud in collision.
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After you finish the configuration, click OK.