Robot Joint Configuration Collision Free

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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

2

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