After you have modeled your work cell in Model Mode, you can create a set of pre-planned robotic motions, specifically the robot’s configurations and the paths connecting them, in Roadmap Mode. The robotic motions are checked for possible collisions during runtime.
...
You can double-click on the target sequence name in the Property Tree to display its Target Sequence dialog to add or delete targets, change the order or, in general, make edits to the target sequence.
...
Yellow text - Target Sequence text that displays in yellow alerts you to potential issues. Hover your cursor over the text to display more information.
...
Auto-connect is a feature that automatically generates collision-free paths around obstacles without the need to set up a lot of specific targets. Auto-connects may generate additional way-points to avoid collisions between target pairs.
The Auto-Connect dialog displays the robot presets for the currently active robot, in the above example, the tabs: Preset1 and Preset2_Torch.
Name - Automatically generated name for the Auto-Connect. It can be customized.
...
| Info |
|---|
On versions prior to 2.6, auto-connections are regenerated when they are re-validated which may result in a new path between targets. When switching between model and roadmap mode, all connections are set to unknown validity. In 2.6 a feature flag can be set so that auto-connects will not be regenerated when they are re-validated. If an autoconnect is valid with the previously generated solution it will remain the same, and if it is invalid it will be indicated as invalid. To regenerate an auto-connect, a user must choose to remove the invalid solution and re-validate. |
Name - Automatically generated name for the Auto-Connect. It can be customized.
Joint Limits - Used to set the joint configuration limits when Auto-Connect is generating the roadmap. Initially displays the default robot joint limits. While joint limits are usually hardware-specific, a user might want to specify them manually to avoid certain positions (for example if cables are blocking some rotations of the base). Auto-Connect will take those new joint limits into account when planning.
...
TCP Constraints - Since most planners are using randomized sampling, the TCP can move arbitrarily through space along a path. A user can avoid this behavior by restricting the TCP motion to an imaginary box in 3D. Users can either restrict TCP motion about an axis (Orientation Constraint) or restrict TCP motion to an imaginaru box in 3D (Translation Constraint). Users can select the reference frame/target for either option. For translation constraint option, user can also clip the limits such that the box either includes all target or includes the reference frame/target.
...
Edge Color - Validity State - Display edges according to the validity of their connections:
Legend - Invalid: Red connections.
Legend - In progress/Unknown: Yellow connections.
Legend - Valid: Green connections.
...
Edge Color - Connection Type - Display edges colored by their type: purple for Cartesian; green for Joint.
...
Motion Voxels - Gray voxels showing the swept volume and robot dilation along the motion path.
Intersecting Voxels - Red voxels indicate where the motions of two or more robots would collide following the planned paths.
Edges - Color coordinated: Invalid, In progress/Unknown, Valid
...
Auto-play motions - Check to start playing motions immediately after edges, targets, or target sequences are selected for each robot.
...
| Info |
|---|
NOTE:
|
Validate
...
| Info |
|---|
When switching from model to roadmap mode, everything is set to a state of unknown validity. |
Validate checks the roadmap’s targets, configurations, and connections are valid, in preparation for exporting the project file. It is a two-step process.
...
Revalidate All - Validates all edges.
| Info |
|---|
| Note |
Auto-connects are regenerated when revalidated. Starting in they are re-validated. In 2.6 , auto-connects will not be regenerated with revalidated. If a solution is valid it will remain the same, and if it is invalid it will be indicated as invalid. To generate a valid path, a user can choose to remove the invalid solution and revalidate again to then regenerate a solution. There is a flag to disable this behavior if neededan optional feature flag can be set to keep auto-connect solutions when re-validated unless explicitly selected by a user. See auto-connect details above for more information. |
Export
The Export button generates the different CAD files needed for the current project. The project is compressed to a .zip file and saved under the same project folder.
...