I am very young to this game; here some easy questions that puzzle me, for your kind consideration:
1) virtualFence: I draw it in WINCAPS simulation but it does not seem to (a) block the simulated robot from crossing fences during movement, and (b) does not seem to have any effect in the actual robot? (same or different problem?)
2) move across elliptic path: Is there an elegant way of instructing (in PAC) the robot arm (and tool) to move around the contour of a small spherical object or do I have to really do pen and paper calculations and key in coordinates manually? The latter seems a mess as movement will look skiddish and jagged (unless I use _many_ points).
3) avoid singularities or weird paths: (a) Is there a simple yet helpful manual to explain how to avoid singularities? Also, if I prove different points and let the arm move from one to the next, oftentimes (some of) its limbs move far outside the safe area (e.g. denoted via virtualFence). Is there a way to predict and/or ask for different automatic paths or do I have to explicitly add interpolated points to force movement via those?
4) what is palletizing?
Thank you in advance. I am at a loss and have a huge project ahead of me.