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RapidPlan Project
RapidPlan - Realtime Robotics' motion planning software - is used in combination with RapidSense perception technology to adjust robot motion in response to sensed information. RapidPlan will move robots to a defined location. This move to location command is sent to RapidPlan through an API and the location information can be pre-defined targets or a pose. RapidPlan will generate a path to the defined location which avoids collisions with all objects modeled in the digital representation of the system including other robots. RapidSense will add an additional layer of collision avoidance with perceived (unmodelled objects) that may enter the scene.
To utilize RapidSense, the following is needed from a RapidPlan project
The project must represent the physical scene as closely as needed including accurate robot models with all necessary CAD data, presets and object states
For known poses/locations, targets should be created in the project
The project must have no invalid edges
The project must be loaded into the RTR Runtime Controller (Control Panel)
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Note: RapidPlan and RapidSense will be limited by the accuracy of the provided “digital twin”, and creating/maintaining an accurate digital representation is not part of the RTR scope. Misalignment between the real and virtual world may lead to slower cycle times due to recalculating paths to avoid parts of the scene that aren’t modelled and are “identified as obstacles” through RapidSense. |
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Note: RapidPlan does not include a task planner/manager. See the RapidPlan user guide for more information on our ASCII API and Profinet interfaces here → RapidPlan 2.5 User Reference Manual |
Calibration: TCP and Robot Target Positions
Specifically for calibration, the following must also be included in the RapidPlan project
A robot preset with the accurate TCP location of the Aruco tag, located at the center of the tag. The name of the preset should be “Calibration”.
A robot target position for “Home” that will be used during calibration, named “[robotname]_home”
Robot target positions for calibration which have the Aruco tag on the robot within the field of view of each camera. Once the target points are decided, auto-connect the targets for the calibration sequence.
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Add calibration targets for the cameras in the “Calibration” preset
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for more details.