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Library Routine
sl.rw.collision
Details
This program will check to ensure that the SELECTed robot is an XY3ZØ device,
and that Option Bit #5 is enabled.
The XY3ZØ robot module has been enhanced to provide a simple form of
collision detection and avoidance for the special case of two XY3ZØ robots
mounted above the same work surface. For this configuration, it is assumed that
the two robots share a common Y-Axis and that the Y axes have the same origin
(i.e., the same physical zero position) and direction.
In order to allow a clearance zone to be taken into consideration when testing for
a collision, a special array of six values has been allocated. Nominally, these six
values correspond to the six degrees of freedom (X, Y, Z, y, p, r). However, for the
XY3ZØ robot module, only the second value is used (Y component). The absolute
value of the second parameter specifies a desired clearance zone to be maintained
between the two robots along the Y axis. This clearance must be set in both of
the XY3ZØ robot modules.
Advanced Servo Library Reference Guide, Rev. A
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