Collision avoidance KUKA Sunrise.CollsionAvoidance Med and KUKA Sunrise.CollisionFreePath Med
Both C++ libraries can be run on an external Windows system and used for offline path planning. Scenario planning takes into account multiple obstacles in the workspace of up to two LBR Med. Robots and scenario data are imported via 3D models. As a result of the path planning, a visualization of the preconfigured scene, the position of the robot and the planned movement is available.
Two use cases are supported by the KUKA Sunrise.CollisionFreePath Med:
Generation of collision-free PTP paths based on the path points from KUKA Sunrise.CollisionAvoidance Med. The specified velocity and acceleration limits are taken into account during path generation.
Generation of Cartesian paths (LIN/LINREL with/without overloops, CIRC) based on the given velocity and acceleration limits. Collisions in Cartesian movements can be avoided by using redundancy optimization to move the elbow away from obstacles.