Avoid collision between tool and robot arm

Not that I'm aware of, unless SafeOperation has added that feature in the past couple years.

Normally, this has to be done by careful programming. I've seen some people write some quite involved code to do this intelligently.

Also, it matters if you're trying to protect against this collision while jogging, or while running a program. Two very different problems, there.

Soft limits

Workspaces

If you have a long tool, the TCP of the tool does not change but you can still rotate the long tool in a way that hits the robot arm.

KUKA.SafeOperations package allows you to defeine the Safe tool with up to 12 spheres that represents the tool.
And this can then be used to evaluate if the tool will hit some static workspace.
But there is no method to see if the tool can hit the robot arm.

There is a webinar by Kuka about this subject:

this is a palletizer arm so flange is always facing the floor and TCP is most likely just below the flange... don't know shape and size of the payload but for robot to hit itself with the payload would mean that A3 position would need to be quite high value. setting soft limit on A3 should prevent that for most setups.