Good morning every body,
I work on an ABB IRB6700 with IRC5 controller.
The robot has to pick up raw pieces stored in a box in a random way. The position of the piece to pick is given by a vision controller so that in certains case, the orientation of a piece forces the robot to be inclined very closed to the edge of the box and sometimes, even if the final point is pickable, the robot crashes the edge of the box.
For the moment i detect where the tool0 is to put a clearance offset and move the 5th axis enclosure out of the edge of the box and after continue the reltool instruction. It works but it does not really enjoy us.
I would like to know if it is possible to define a cubic zone (the box) and a cylindric zone (around axis 6 or 5 or both) and - before decide going to the robtarget given by vision- analyze if the two zones are in contact and where ? So that i can put an offset to move just what we need and let the robot move more naturally.
I don't if I have been adequatly clear but I thank every body by advance for the most little help that can be given !