Hi,
I am a novice to RobotStudio and its Addin development in C#. My Addin should find shortest paths due to the use of a sample-based pathplanning algorithm.
I want to build a probablistic roadmap for the configurationspace of an abb robot. Therefore a graph with vertices and edges is build. When building the graph in configurationspace, a random position is taken. For this position it is necessary to check, whether the joint values in configuration space mean a collision in the workspace. If there is no collision, the vertex is added to the roadmap.
Here is my question: Does the ABB library provide any method to check whether a certain configuration for a certain RsTarget means a collision with an imported CAD model?
Thank you very for your answers!
Thank you very much for your help!
BTW maybe you have any other hints concerning pathplanning!