Warning

You are reading the documentation for an older Pickit release. Documentation for the latest release (3.0) can be found here.

Collision prevention

In constrained picking scenarios like bin picking, it is important to prevent the robot tool from colliding with the bin or other objects, such that the application runs without interruption.

In the Picking page, under Prevent collision with tool, one can check whether reaching a pick point with a specific robot tool would result in collision. If picking an object would lead to a collision, the object is labeled as unpickable and is not sent to the robot. In the Pickit web interface, unpickable objects are displayed in orange in the Objects view and Detection grid.

Note

Pickit collision-checks the pick point, not the robot trajectory that would lead to it.

Collision checks: Bin and other objects

For collision prevention to take place, the user needs to define a robot tool model, and specify whether to check for collisions with the bin and/or other objects in the scene.

The examples below show a pick point being rejected due to collisions that would result between the robot tool and the bin (left), and between the robot tool and another object (right).

../../_images/example_tool_collision.png

Tip

When collisions checks with the bin are enabled, it’s important to have a correctly defined bin box.

When using Pickit Teach, having multiple pick points and/or flexible pick orientations increases the likelihood of finding collision-free pick points.