1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
This Thread
  • Everywhere
  • This Thread
  • This Forum
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Forum
  3. Simulation Systems
  4. RoboDK
Your browser does not support videos RoboDK Software for simulation and programming
Visit our Mainsponsor
IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Sponsored Ads

Measuring fence clearance?

  • SkyeFire
  • August 31, 2020 at 4:42 PM
  • Thread is Unresolved
  • Online
    SkyeFire
    Reactions Received
    1,052
    Trophies
    12
    Posts
    9,430
    • August 31, 2020 at 4:42 PM
    • #1

    What's the simplest method to put a fence or wall into a RDK model, and measure the distance from that fence to the closest part of the robot at different robot poses? I don't need high accuracy, just a decent idea (within 25mm or so). I'm trying to determine if I'm going to have to relocate some fences to achieve safe clearance.

    Is there a way to get a measurement like this, or would I need to set up Collision Checking? Since I've never done that, does anyone know of a good Idiot's Guide to collision-checking in RDK?

  • massula
    Reactions Received
    204
    Trophies
    8
    Posts
    1,431
    • September 4, 2020 at 12:09 PM
    • #2

    Interesting question.

    RobotDK has the WorkSpace feature, that would be a good start but, as far I know, it doesn't have something similar to Process Simulate Swept volumes, for example, where You generate a volume from one or more paths.

    The trick with the collision checking is configure the collision map properly, so You will avoid unnecessary checks.

    https://robodk.com/doc/en/Collisi…ml#CollisionMap

  • Online
    SkyeFire
    Reactions Received
    1,052
    Trophies
    12
    Posts
    9,430
    • September 4, 2020 at 4:03 PM
    • #3

    So, it looks like I would have to import a model of the fence as a 3D object, then activate the collision checking between the robot and the fence?

    Hm... should be doable. My big concern is actually my "safety tool" sphere surrounding the actual physical tool, so I'll need to model that and attach it to the robot. And it probably has its own entry in the collision table, I'm guessing?

    This whole mess is b/c I need to retrofit dimensional safety (virtual fence, virtual tools, etc) into a production system that was set up without them years ago, by people who didn't know what they were doing. So the tool-change stands are located very close to the physical fence, and I have to do all my prep work 100% offline, b/c when it comes time to go on-site, we'll only get a few days of downtime to make all the changes before this system has to go back into production. :face_with_rolling_eyes:

    So, I have the tool dimensions, I have the customer's tape-measure distance from the robot base to the fence, and I have a copy of the tool-change program. And RDK. Well, time to get to work....

  • massula
    Reactions Received
    204
    Trophies
    8
    Posts
    1,431
    • September 4, 2020 at 4:39 PM
    • #4
    Quote from SkyeFire

    So, it looks like I would have to import a model of the fence as a 3D object, then activate the collision checking between the robot and the fence?

    Hm... should be doable. My big concern is actually my "safety tool" sphere surrounding the actual physical tool, so I'll need to model that and attach it to the robot. And it probably has its own entry in the collision table, I'm guessing?

    Yes, You are right. The safety tool sphere should be attached to the robot flange, and You must include it on collision map.

    And You can import the real fences, and after this, create/import new virtual fences, with the safety area dimensions, and create the collision between safety tool and safety area.

    Swept volumes are a resource hungry feature, but would be a welcome addition to RoboDK

  • Jeremy RoboDK
    Reactions Received
    17
    Trophies
    3
    Posts
    75
    • September 23, 2020 at 10:04 PM
    • #5

    Sorry guys that I missed this one.
    I was on holidays.

    Anyway, I don't have much to add.
    Let me know if it worked as expected.

    Jeremy

    RoboDK - Simulation and Offline programming software for industrial and collaborative robots.

    Visit us at RoboDK.com
    Take a look at our tutorial videos on our YouTube channel.

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics

Job Postings

  • Anyware Robotics is hiring!

    yzhou377 February 23, 2025 at 4:54 AM
  • How to see your Job Posting (search or recruit) here in Robot-Forum.com

    Werner Hampel November 18, 2021 at 3:44 PM
Your browser does not support videos RoboDK Software for simulation and programming

Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Tags

  • robodk
  • distance
  • fence
  • clearance
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download