Collision avoidance in bi arm

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Collision avoidance in bi arm

Post by hari » 27 Aug 2013, 13:09


I have created a bi arm ( two arms on same base).Added ik, etc.And its simulation works nice except collision avoidance. I am trying to add collision avoidance. I am tried it in the following way
1. Added two collection objects ( Tools -> Collection)
2.Added obstacle avoidance parameter in Calculation Module -> Inverse kinematics -> Edit Obstacle avoidance parameter as
Entity 1 : One arm collection
Entity 2 : Second arm collection
and adjusted the distance threshold
But the collision avoidance is not working
how can I add collision avoidance.

Thanks in advance

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Re: Collision avoidance in bi arm

Post by coppelia » 27 Aug 2013, 17:07


the ik collision avoidance is meant to be used with redundant robots that will try to avoid obstacles in a simple fashion (i.e. no complicated motion planning happens here). You need to make sure that one of the two manipulators is redundant (more joints than tool tip DoFs). Then make sure that the ik group of the one that should avoid the other is executed after the other one.

Finally, if you are looking for a motion planning functionality, this should be available in next V-REP release (V3.0.5)


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