Path Finder Panel

The Find and Optimize tab of the Path Finder panel has parameters that enable you to adjust solver computations as required for varied assembly contexts. You can define defaults for the parameters in Me > Preferences > App Preferences > Simulation > Manufacturing Process Documentation > Assembly Path Optimization > Path Finder.

Visual feedback during computation

Select this option to display graphic feedback during the Track computation with the Find Track command.

Depending on the mode you select, the graphic feedback includes only the red dots (transient T-Points), only the moving objects, or both. For more information, see the Path Finder preferences.

Display find track complexity level

By default, this option is specified according to the Display find track complexity level option in Me > Preferences > App Preferences > Simulation > Manufacturing Process Documentation > Assembly Path Optimization > Path Finder. During the Track computation, a small panel is displayed showing the complexity level on a five-bar scale:

• 5 bars: Very high difficulty
• 4 bars: High difficulty
• 3 bars: Medium difficulty
• 2 bars: Low difficulty
• 1 bar: Very low difficulty

Find Track: Quality

A higher-quality setting shortens the distance between points. A high-quality setting decreases the risk of collision between the generated points and the context, but increases the computation time.

Precision Value

When the quality parameter is specify to very high, you can enter a precision value to find a Track.

Extract points in collision before finding track

When selected, the named points in the collision path are automatically replaced.

You can define a maximum radius on which the default value is 10.00mm.

Note: This is the same function as the Any Direction option of the Extract command in the context toolbar.

Optimize after finding track

Select this option to automatically start the Optimize Track command after completion of the Find Track command.

Define target area at end point

Select this option to define an area as target for Path Planning computation instead of an end point.

The computation stops when a collision free point is found inside the target area.

Notes:

• The area is defined with a radius value around the end T-Point. It indicates that the last Trajectory point (T-Point) can be found inside this area.
• If there is no end point, the option is not available.

The Radius maximum value is defined for the target area. It corresponds to the distance between the end T-Point and the context object. Therefore, you cannot specify a value greater than the maximum value or smaller than 0.

Note: The radius value is editable only if the Define target area at end point option is selected.

By default, the trajectory between the computed target point inside the area and the end point can have interferences as the computation stops before computing this segment. To be sure you have a collision free segment, select the Compute trajectory up to end point option. When selected, the Track computation only stops when the segment between the computed target point and the end point is collision free.

Note: The Compute trajectory up to end point option is available only if the Define target area at end point option is selected.

The applicability of this option is as follows:

• It is applicable on all Tracks for which Path Planning can be run, that is, excitation and operation Tracks.
• It is available for the Find Track command (including Manual Assistance ).
• It is compatible with bounding box (including 2D bounding box) but not with Guiding path and "Intermediate" point. In these last cases, the target area option is disabled and cannot be selected. In the case where Guiding path or "Intermediate" point is activated afterward, the target area option is automatically disabled and the area is no longer displayed in the main 3D view.

Optimize Track: Quality

A higher-quality setting shortens the distance between points and further refines the rotations and motions that prevent collision. A high-quality setting decreases the risk of collision between the generated points and the context, but increases the computation time.

Precision Value

When the quality parameter is specify to very high, you can enter a precision value for your Track optimization.

The Domain and Rotation Limits tab of the Path Finder panel has parameters that enable you to activate, adjust, and monitor bounding box limits. It also has the degree of twist and angle allowed during assembly. These settings enable you to accommodate assemblies ranging from small to large dimensions, and varied constraints.

Domain Limits

Also referred to as translation limits, these settings are part of the solver computation. There is no point computation beyond these limits. These settings are the coordinates of a translation reference axis system, which defines the bounding box area. By default, this system is based on the Track start point.

No Limits deactivates the axis settings and disables the Display Bounding Box command in the context toolbar. You can use this mode for large-dimension assemblies or to identify an initial collision-free path.

Translation mode presents axis settings that correspond to the bounding box limits, showing most recent settings and enabling changes. The bounding box is displayed in the 3D view with handles. A change of dimensions in the panel updates the bounding box in the 3D view, and vice versa.

You can lock and unlock a limit using its lock command. A locked coordinate remains the same for any T-Point.

Guiding Path displays a cylindrical shape along a guiding path. The cross section of the shape is defined by a radius. The resulting path must be inside this shape. You can modify the radius directly in the panel, or using rulers at the end and start points of the path. Use the Select Track option in the panel to replace the current guiding path by another one. The selected Track becomes the new guiding path and the cylindrical shape appears along this path.

Angle Limits

Also referred to as rotation limits, these settings are part of the solver computation. There is no point computation beyond these limits. These settings are the coordinates of a rotation reference axis system, which defines degrees of angular motion past zero. By default, this system is based on the Track start point.

No Limits deactivates the angle settings and enables a more exploratory track-finding run.

Both of the Bryant Angles and Swing and Twist modes activate the rotation settings area, showing the most recent settings and enabling changes.

Bryant Angles allows you to specify minimum and maximum limits for rotations about the X, Y, and Z axes.

Swing and Twist shows only maximum values, because minimum is zero. It shows values only for the X and Z coordinates. The swing axis is X, and the twist axis is Z. The range of the maximum X setting is 0 to 90 degrees. The range of the maximum Z setting is -180 to 180 degrees. The example below shows an X-axis specify to 30 degrees and a Z-axis specify to 90 degrees:

You can lock and unlock a limit with its lock command.

The Multi-Clearance tab of the Path Finder panel has parameters for defining global and local clash limits.

Collisions are detected between the moving objects of the Track and the context. The context comprises all the products and resources that have a 3D representation and that are not included in the moving objects.

Collision parameters define the allowed and rejected points according to the distance between the moving objects positioned at a given point of the Track and the context.

The T-Points Information tab of the Path Finder panel displays details of all the points in a given Track. This enables you to review them after a track-finding or optimizing process ends. Each line of the table presenting the points has a context menu with which you can change or remove the point type, similar to using the Track Points context toolbar. The tab columns are summarized below.

T-Point Name

This column lists all the points, identifying point types with a label that displays the applicable icon, and the Track Points context toolbar commands.

Clash

This column shows the clash status of each T-point based on global and local clash limits, and domain and rotation limitations specifications:

• Red if the T-point is out of limits (clash, domain, or rotation).
• Orange if the T-point is in contact but within the limits.
• Green if the T-point is within all the limits.

Time

This column shows the time between points.

Cumulative Time

This column shows the cumulative time to that point from the start point.

Compute minimum distance

The Compute minimum distance command computes the distance or penetration values and displays them in the clash column for each T-Point.

Note: This command only displays if the Minimum distance computation option is specify to the Automatic mode of distance computation in the Path Finder options.

For more information, see Miscellaneous.

T-Points Management

The following commands let you manage the T-Points.

To reorder the T-Points:

• Move Up : Reorders the T-Point one place above the current index.
  Note: This command is only enabled if the selected T-Point is not the first T-Point. It is disabled if the Move Before command is selected.
• Move Down : Reorders the T-Point one place below the current index.
  Note: This command is only enabled if the selected T-Point is not the last T-Point. It is disabled if the Move Before command is selected.
• Move Before : Waits for the further selection of a single T-Point. After a single T-Point has been selected, the previously selected T-Point is reordered before the current selection.

Rename All : To rename all the T-Points that have default names with the new names defined in the indexes.

Note: This command is unavailable if the Move Before command is selected.

Delete Selected : To delete one or several selected T-Points.

Note: This command is available only if at least two T-Points remain in the Track after deletion.

Modify T-Point : To modify a selected T-Point using the current Robot position.

Use the T-Point position editors to modify a selected T-Point's X, Y, Z, RX, RY, and RZ coordinates. Click Modify T-Point to validate this change.

Note: Changing these values impacts the position of the moved object.

When you select the Automatic clash limit option in the Path Finder panel, the solver changes the initial clash parameters when it is difficult to find a Track. The initial clash parameters are reset as soon as the solver finds a Track.

Depending on initial clash parameters, you can specify the following automatic clash limit parameters.

You can choose to keep the same clash mode and only change the clash parameter value. In this case, the value must be lower than the initial clash parameter value if the clearance is activated, and greater if the collision is activated.