Path Planning

Important

When using a robot with external axes, such as a rotary tilt table, ensure that the base coordinate system is correctly set and linked to the last axis of the table to guarantee correct motion generation.

See also Initializing the base with external axes.

In order to successfully carry out path planning, it is initially necessary to create the scene and define the scope of the program. This involves defining all the points required for the process, which serve as the basis for path planning.

If you have any questions or encounter any challenges during these steps, we recommend consulting the comprehensive KUKA.Sim Help. There you will find numerous explanations and detailed workflows to assist you with the procedure.

Info

The displayed robot configurations are used for path planning.

In Visual Components, the configuration of a linear movement depends on the previous movement. To ensure optimal planning, the movement commands should be selected in the order of the program sequence. This behavior is also explained in the Visual Components Academy.

Below, the various planning options are explained:

To automatically plan multiple transitions marked with HALT statements, follow the Automatic collision-free path planning workflow.

1:1 Path Planning [Sequence]

In 1:1 Path Planning [Sequence], a path between exactly one start point and one goal point is calculated.

  • To do this, select two or more points in the Program Editor.
  • To start 1:1 Path Planning [Sequence], either click on the “Path Planning Commands” button or open the context menu by right-clicking and select the corresponding option.
  • If multiple points are selected, the planning follows this sequence:
    • First selected point -> second point -> third point -> … -> n-th point
  • The path planning generates a new path planning object with the calculated path for each consecutive pair of points at the end of the program.

1:1 Path Planning [+reverse] [from Punkt] / 1:N:1 Path Planning [+reverse] [from Punkt]

In 1:1 Path Planning [+reverse] [from Punkt], a path and its way back between exactly one start point and one goal point is calculated.

  • To do this, select two or more points in the Program Editor.
  • To start 1:1 Path Planning [+reverse] [from Punkt], either click on the “Path Planning Commands” button ot open the context menu by right-clicking and select the corresponding option.
  • If multiple points are selected, the planning follows this pattern:
    • First selected point -> second point -> first selected point
    • First selected point -> third point -> first selected point
    • …
    • First selected point -> n-th point -> first selected point
  • The path planning generates a new path planning object with the calculated path for each consecutive pair of points at the end of the program.

Reverse request

Planning requests that have already been made can be reversed.

  • Select a path planning statement in the program editor.
  • To start the reverse path planning, select the corresponding option.
  • A new path is calculated starting with the last point going to the first point of the selected path planning statement.

Repeat request

Planning requests that have already been made can be repeated.

  • Select a path planning statement in the program editor.
  • The path planning made with this statement is repeated and the result is returned to the same command.

If you have any questions or problems, please do not hesitate to consult the KUKA.Sim Help or contact our support. You can find our contact details on our website. We wish you every success with your path planning!