Robot collides with inspection object

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Diego González
Posts: 4
Joined: 24 Dec 2021, 12:39

Robot collides with inspection object

Post by Diego González »

Hi Coppelia,

I'm doing a simulation in which i do an inspection of an object. In order to do it i have to reach a lot of points close to the object. I'm using sim.moveToConfig to go from one point to the next. My problem is that while going from one point to another, the end effector of the robot collides with the object. I do all of this with Matlab (which i think shouldn't matter).

Is there some way to tell the robot to move without going inside the bounding box of a object, or without colliding?

Or, are there any functions that make the robot move doing a rectilinear or curve trajectory with its end effector?

I'm new with Coppelia so any help is welcome.

Thank you!

coppelia
Site Admin
Posts: 10337
Joined: 14 Dec 2012, 00:25

Re: Robot collides with inspection object

Post by coppelia »

Hello,

when using sim.moveToConfig, you are moving on a straight line in the configuration space, i.e. going straight to the goal configuration. If you robot was using IK, then you could use sim.moveToPose, which would drive the end-effector on a straight line in 3D space, to the goal pose. In both cases, a straight line is followed, once in the configuration space, once in 3D space.

You have basically 2 methods to avoid obstacles:
Cheers

Diego González
Posts: 4
Joined: 24 Dec 2021, 12:39

Re: Robot collides with inspection object

Post by Diego González »

Hello,

Thanks for the fast answer. It will probably help me, i'll work on it.

Cheers

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