09-18-2020, 09:39 AM
I did more testing to see if theRDK->setCollisionActive(false)truly worked. I do have some differences when I activate it or not (subtle differences). I modify my program to test the exact same movement every time and check the differencies:
With collision ON: time between 100 - 110 ms (for one short movement)
With collision OFF: time between 160 - 180 ms (for the same one short movement)
In the console of RoboDK, there is also a difference:
With Collision OFF:
With Collision ON:
So it seems that RoboDK is testing 5 set of collision with COLLISION_ON, and 2 with COLLISION_OFF.
If I only want the singularity / axis limit check, No collision at all, not even the robot with himself, nothing. How can I set that ? I know that the singularity checking is faster, since when it detect a singularity it takes a few ms.
PS: If I let my program sendRDK->Render(false)with no UI, RoboDK crash
With collision ON: time between 100 - 110 ms (for one short movement)
With collision OFF: time between 160 - 180 ms (for the same one short movement)
In the console of RoboDK, there is also a difference:
With Collision OFF:
Code:
Running API Command: "CollisionMoveL"
MoveL Test: Started ...
MoveL Test: Linear Movement is possible. Checking collisions...
Collision check started...
Collision check time: 2 ms. Collisions: 0 Average: 1 ms
Collision check started...
Collision check time: 2 ms. Collisions: 0 Average: 1 ms
MoveL Test: Done! No collision found. Tested Times: 50
Updating positions and rendering...
No 3D window to render
Done with API Command: "CollisionMoveL"
With Collision ON:
Code:
Running API Command: "CollisionMoveL"
MoveL Test: Started ...
MoveL Test: Linear Movement is possible. Checking collisions...
Collision check started...
Collision check time: 1 ms. Collisions: 0 Average: 1 ms
Collision check started...
Collision check time: 2 ms. Collisions: 0 Average: 1 ms
Collision check started...
Collision check time: 2 ms. Collisions: 0 Average: 1 ms
Collision check started...
Collision check time: 2 ms. Collisions: 0 Average: 1 ms
Collision check started...
Collision check time: 1 ms. Collisions: 0 Average: 1 ms
MoveL Test: Done! No collision found. Tested Times: 50
Updating positions and rendering...
No 3D window to render
Done with API Command: "CollisionMoveL"
So it seems that RoboDK is testing 5 set of collision with COLLISION_ON, and 2 with COLLISION_OFF.
If I only want the singularity / axis limit check, No collision at all, not even the robot with himself, nothing. How can I set that ? I know that the singularity checking is faster, since when it detect a singularity it takes a few ms.
PS: If I let my program sendRDK->Render(false)with no UI, RoboDK crash