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With RobotStudio you can detect and log collisions between objects in the station. The basic
concepts of collision detection are explained below.
Collision sets
A collision set contains two groups, Objects A and Objects B, in which you place the objects
to detect any collisions between them. When any object in Objects A collides with any object
in Objects B, the collision is displayed in the graphical view and logged in the output window.
You can have several collision sets in the station, but each collision set can only contain two
groups.
A common use of collision sets is to create one collision set for each robot in the station. For
each collision set you then put the robot and its tool in one group and all objects you do not
want it to collide with in the other. If a robot has several tools, or holds other objects, you can
either add these to the robot’s group as well or create specific collision sets for these setups.
Each collision set can be activated and deactivated separately.
Collisions and near-misses
In addition to collisions, the collision detection can also watch for near-misses, which is when
an object in Objects A comes within a specified distance from an object in Objects B.
Recommendations for collision detection
In general, the following principles are recommended to facilitate collision detection:
• Simplify and defeature your models by removing everything that is not necessary for
simulation purposes.
• Use as small collision sets as possible, splitting large parts and collecting in the
collision sets only relevant parts.
• Enable coarse detail level when importing geometry.
• Limit the use of near-miss.
• Enable last collision detection, if the results are acceptable.
Results of creating a collision set
After you have created a collision set, see Create Collision Set on page 296, RobotStudio will
check the positions of all objects and detect when any object in ObjectsA collides with any
object in ObjectsB.
Activation of detection and displayal of collisions depend on how the collision detection is
set up.
If the collision set is active, RobotStudio will check the positions of the objects in the groups,
and indicate any collision between them according to the current color settings.