Robot Joint Configuration Collision Free

haryprabs

Dear Community,

Is there any idea how to achieve robot joint configuration that will be free of collision at the target. 
The naive way that i think is to search all combination of 6 joint value and check whether each of the combination is collision-free using collision detection feature programmatically.

Regards

ko414du4

You can set up how sensitive the collision detection in RAPID (MotSup instruction) if your system has a collision detection option.