Planning a Path

You can automatically compute an optimal collision free path.

  1. From the Optimization section of the action bar, click Robot Path Planning .
  2. Select a robot.
    The Robot Path Planning dialog box appears with the Specifications tab selected.
  3. In the Robot Path Planning dialog box, click New.
    The Jog dialog box appears.
  4. Add targets to Passage points list.
    • Select a robot task to automatically add all of the targets of the task to the list. You can either:
    • Use the Jog dialog box to position the TCP at each location and click Add new passage point for each target.
  5. In the Jog dialog box, click Close.
    The Robot Path Planning dialog box reappears, and the Passage points list is populated with the selected targets.
  6. Add any obstacles that must be avoided to the Obstacles list by clicking Add and selecting each obstacle in the work area.
    Items are added to the Obstacles list as they are selected.
  7. In the Robot Path Planning dialog box, select the Options tab.
  8. Set the options as needed for Position range, Rotation range, Rotation tolerance, and Solver options.
  9. Select the Results tab.
  10. Click Compute possible solutions to begin computing the possible paths based on the targets and options that have been specified.
    All resulting computed paths are listed in the Computed solutions list, each with a proposed Task name.
  11. Select a path in the list, and click Create task in the Action column to generate a new robot task for the path.
    Once the task is created, the Create task changes to Play. Click Play to simulate the task.
  12. Click OK to create the selected task and close the Robot Path Planning dialog box.
    The new robot task appears in the Behavior side tab.