Path Planning Context Toolbar

The Path Planning context toolbar enables starting the track-finding process, setting optimization, and track-finding area parameters, and confirming completion after a Track solution is found.

See Also
Context Toolbars

The commands in this context toolbar are described below.

Find Track
Clicking this command starts the path-planning solver, which performs the computations that identify a collision-free Track. In its computations, the solver takes into account all moving objects in the context of the Track, consisting of products and resources.
This command opens:
  • The Find Track toolbar, with the following commands:
    • Manage Guiding Points : Lets you display another toolbar to add and remove temporary Guiding Points, and displays the Robot in the 3D view.
      Note:

      The computation stops while this command is active.

      This command is grayed if a Guiding Path is specified on the Track.

    • Manage Display Partial Track : Displays another toolbar, and the Robot in the 3D view.
      Notes:

      The computation stops while this command is active.

      This command is grayed if a Guiding path is specified on the Track.

      The toolbar contains the following commands:
      • Show Track : Displays the partially computed Track. For more information, see: Using a Partially Computed Track.
      • OK : Stops the solver. The track is updated with the current partially computed Track. The main Path Planning command toolbar is displayed.
      • Exit : Restarts the computation. The Track is not updated. The Find Track toolbar is displayed.
    • Manual Assistance : Lets you assist the path planning solver in determining a path using the Robot.
      Note: This command is grayed if a Guiding path is specified on the Track.
    • OK and Cancel : these commands stop the path planning solver.
      Notes:

      With OK , the partial trajectory is computed from the closest computed point to the end point, and the original Track is updated with this partial trajectory.

      With Cancel , the original Track is not updated.

    For more information, see Using Manual Assistance in Determining Path.

  • The Computation time panel. This panel can be minimized and automatically closes when the Find Track command ends.
    Note: The time scrolling stops when the computation is suspended while the Manage Guiding Points and Manage Display Partial Track commands are active. The time scrolling restarts when the computation is restarted.
You can specify solver parameters to regulate the standards used in its computations such as distance between points, extent of optimization, and distance of clearance, contact, or collision. The parameters must be changed before starting the track-finding process to be taken into account by the solver. The parameters are in the Path Finder panel. See Find and Optimize Tab.
You can change the default settings of Find Track parameters in Me > Preferences > App Preferences > Simulation > Manufacturing Process Documentation > Assembly Path Optimization > Path Finder.
Optimize Track
This command simplifies and smooths a Track by decreasing points and removing unnecessary rotations and motions in avoiding collisions with the context objects. You can apply it during a track-finding process.
Optimization removes and updates existing points between start and end points. The start, end, and intermediate types are kept on their points. Optimize Track can be used several times on the same Track if required, to increase the level of optimization.
In the Path Finder panel, you can specify parameters to automatically regulate the standards used in the Track computations such as the distance between points, and the distance of clearance, contact, or collision. For more information, see Find and Optimize Tab.
You can change the default settings of Optimize Track parameters in Me > Preferences > App Preferences > Simulation > Manufacturing Process Documentation > Assembly Path Optimization > Path Finder.
Display Bounding Box
This command presents the limits of the track-finding area in the form of a box in the 3D view. The area is based on default values computed from the positions of start, end, and intermediate points, and the positions and size of moving objects. You can adjust the faces of the box with handles, and change dimensions with rulers.
A Robot set at the start point defines the position and orientation of the translation reference axis system, which is represented by the box figure. You can use the Robot to rotate that area.
To hide the box faces while keeping the limits active, click one of the edges. That also disables the handles and hides the Robot. Another click restores all.
To remove the bounding box and Robot, click Display Bounding Box again.
You can also adjust parameters to define bounding box and rotation limits in the Path Finder panel. See Domain and Rotation Limits Tab. The parameters must be changed before starting the track-finding process to be taken into account by the solver.
Rotation Limit Reference Axis
The rotation limit reference axis is taken into account in the Find Track command whenever rotation limits (Bryant Angles or Swing and Twist) are activated.
The Robot is displayed to allow changing the orientation of the rotation limit reference axis. When you start to rotate a Robot axis, you can specify the exact angle value using the displayed ruler or by entering a value in the angle editor. You can also define the rotation axis orientation by snapping the Robot on selected geometry. The Robot detects planar or cylindrical surfaces and automatically adapts its position.
Notes:
  • Deactivation of the Robot for rotation axis: As the Robot is unique, it automatically disappears when it is used by another command: Play, Find Track, Optimize, or Display Bounding Box. The rotation limit reference axis values are kept in the data model, and the Robot is hidden. At the end of the Play, Find Track or Optimize command, the Robot reappears.
  • Activation of the Robot for rotation axis: The Robot for the bounding box disappears if the rotation axis is activated. If the bounding box is active, you can activate Rotation Limit Reference Axis. The bounding box is then deactivated and the Robot then drives the rotation limit reference axis. The Robot manipulation updates the rotation limit reference axis system. Reactivate the bounding box if necessary.
OK or Cancel
Clicking OK ends the command activity. Clicking Cancel ends the command and undoes all data for the Track resulting from the preceding process, including point type and limits modifications.