Understanding benefits - Advanced collision avoidance (V2)

Context

To ensure optimal performance, the robot’s work area should remain as clear of obstacles as possible. However, in tighter environments, enabling the Advanced Collision Avoidance feature can improve trajectory — without requiring any custom programming.

Validate feasibility : Configurator

To test feasibility with the Configurator, follow these steps:

1. Access the layout window depending on the Configurator method being used.
   • For single 3D projects, click LAYOUT on the main screen.
   • For multi-recipe projects, click CREATE LAYOUT on step 2 (Lines). If this option is not visible, please ensure "Obstacles" is activated in COLUMNS.
     
2. Add one (or more) obstacles in reference to the Palletizing Solution and accept the changes.
3. Run the simulation depending on the Configurator method being used.
4. If no solution is found, access the layout window again and check "Enable advanced collision avoidance".

To add obstacle from Config to PAL you can also refer to this article

=>https://blog.robotiq.com/knowledge/how-to-create-bounding-boxes-with-the-online-configurator

Video demo of configurator(2:05) 3D Project only

Chapter:

How to add an obstacle inside Layout 0:06
Change obstacle position 0:42
Simulate (without Advanced colision avoidance) 1:15
Advance colision avoidance activation 1:25
Simulate (with Advanced colision avoidance) 1:42

 

 

How to activate the feature in Multi-recipe

 

Implement on PAL

When you face difficult trajectories you can use "advanced collision avoidance" it will unlock PATH SEARCH. How it works:

Each PAL trajectory is sent to the robot as a MoveJ script. (as the Move Around feature)
The software automatically tests two types of trajectories:

The soft is testing two types of trajectory

• Inverted U-shape trajectory

 

 

• Bridge-shaped trajectory (used only if a collision is detected with the first one)

 

 

If neither of these paths can be executed without collision and the backend cannot find a valid trajectory, the robot stops and displays a “Trajectory Error” message.

Advanced Collision Avoidance

When Advanced Collision Avoidance is enabled, a third trajectory type becomes available — Path Search.

In this mode, the software first performs a pathfinding computation to determine a valid path between the start and target positions. Once a feasible path is found, the system applies speed adjustments to respect robot limitations and safety constraints.

In this mode, the software first searches for a possible path. Once a path is found, the speed is then implemented to match robot limitation - safety, robot limits etc...

The Path Search computation requires significantly more processing time than standard trajectory generation.
Side note : Path computation is only triggered if the first two trajectory types fail.

 

How to activate it:

1. Go into your paletizer node => Settings

 

2. Scroll to tick the "Enable advanced colision avoidance" feature