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Limit Pick-and-Place (robots) rotation angles

Hi community, I have a question about the rotation angle of the Pick and Places.

 

As you can see in the attached picture, I want to ensure that PickandPlace can ONLY move in the permissible area (Green one) and that the avoid area (Red one) be a forbidden territory to my robot (Let's suppose the robot can not rotate full 360° and I want the robot to "look-like" how it moves in reallity).

 

 

And if the case was the opposite, and I wanted to ensure that the Robot went from the "source" to "Station1" going through the "forbidden area" (Red one), how can I ensure that it won't take it along the green one?

 

 

 

 

 

Thanks a lot!

1 REPLY

Re: Limit Pick-and-Place (robots) rotation angles

the pickAndPlace will select for the rotation the shortest way. So you will not need a blocking angle for the first case; if you want to turn over the red area, you need to set the blocking angle between the two destination to block the short way.

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net