Collision Free Planner - PRM with RoboDK

RoboDK's motion planning feature automatically creates collision-free paths within the robot's workspace. This feature uses a motion planning algorithm called "probabilistic roadmaps" (PRM).
First, a map is created of the free space in the robot's workspace. This map is then used to quickly generate collision-free trajectories during robot programming.
00:32 Collision-free motion planner
01:35 New setup to generate a collision-free path
02:54 Collision-free planner panel
04:00 Display the collision-free map (10 samples)
04:30 Constraining the robot work-space
06:02 Join 2 targets with a collision-free path
10:38 Default collision-free map (100 samples)
12:02 Join 2 programs with a collision-free path
Link to download RoboDK:
robodk.com/download
Link to documentation:
robodk.com/doc/en/Collision-A...
Link to RoboDK's blog:
robodk.com/blog/prm-motion-pl...

[@yuguo637]

hello I want to ask Why my Robodk software doesn't have the button for ""Create collision-free map"?"

[@RoboDK3D]

You should make sure you update RoboDK to the latest version. Then, select Tools-Add Ins and activate the CollisionFreePlanner addin. It is better if you ask technical questions in the forum: robodk.com/forum/

[@Tachidan]

Is there a physical benefit for the path planning to use multiple discrete joint movements as opposed to a continuous 'curving' movement around the object?
I assume moving around the object on a curved path would be slightly faster, but more difficult or computationally more intensive to calculate.

[@N100NXX]

Interesting to see what RoboDK is trying to do here, unfortunately for the example given it would be easier and quicker to map the joint movements manually but will certainly give it a try in a scenario with several more obstacles like a packing-cell of sorts.... keep the videos coming and next time can we have an example with a Fanuc M10i or similar? Have been struggling for some time to get this to work with the .TP files so though by posting here would get the ball rolling.

[@RoboDK3D]

Thank you for your comments! This video is an introductory tutorial and the example shown is very simple. Of course, solving the robot path manually is very simple. The automated collision-free path generator can be useful for more complex projects though.
The following link will help you automatically generate TP files from RoboDK for Fanuc robots: robodk.com/doc/en/Robots-Fanuc.html#LSvsTP

[@neelnagda7237]

Firstly, thank you for these informative videos. Is it also possible to detect collisions of the tool with the robot arm itself?

[@RoboDK3D]

Yes, this is possible, make sure to properly define your collision map: robodk.com/doc/en/Collision-Avoidance.html#CollisionMap

[@impactodelsurenterprise2440]

Can it plan for collision free path from another moving robot arm?

[@RoboDK3D]

This is possible if you synchronize both robots together. More information here: robodk.com/doc/en/General.html#SyncAxes