Plan History
This section introduces the function of Plan history. The following topics are covered:
Overview
The overall plan history is laid out in a tree structure, which contains every node in the whole process of path planning from Mech-Viz.
Comparing to the log, plan history contains more details of every node (especially when there is an error) in the process.
-
Some errors are serial errors, which means that if the error occurs at one of the nodes, the final plan result will fail. For example, a certain joint position is set wrong, and the robot cannot move to the planned waypoint.
-
Some errors are parallel errors, which means that the final plan result will still succeed if the planning at one of the parallel nodes is successful. For example, when the robot attempts to pick with the pick points sent by Mech-Vision, if either one of the pick points works, the target object can be picked successfully.
| You can focus on the nodes where errors occur when running the project. |
Visualize Collision
Compute and Record Collision Contacts
During project tuning, in order to record the complete collision contact and save it to the plan history, please click Improve Cycle Time in the toolbar and disable Perform only coarse point cloud collision calculations before you simulate or run the project.
Animation Prompts for Collisions in Plan History
Click any item in the plan history, and the animation corresponding to the current plan is displayed, including:
-
The green solid line represents a successful path.
-
The red solid line represents a failed path.
-
The red dashed line represents an unreachable path.
-
The yellow ball on the line shows the direction of the robot’s motion.
-
The highlighted parts represent the areas where collisions occur.
| Change the Animation duration parameter in the lower-left corner of the Plan history interface to adjust the duration of the animation display. |
Causes of Common Failures and Fixes
The following lists several common failures and corresponding fixes.
Waypoint unreachable
Plan Result |
The waypoint of Step “Relative Move_3” is out of the reachable range of the robot. |
Fix |
Adjust the waypoint of step “Relative Move_3” to make the robot reach the waypoint. |
Robot singularity
Plan Result |
There is a singularity in the path from step “Fixed-Point Move_6” to Step “Fixed-Point Move_7”. |
Fixes |
Change the waypoint type of step “Fixed-Point Move_7” from JPs to TCP. |
Change the Motion type from Linear move to Joint move. |
|
Modify the parameters corresponding to singularity. |
Collision
Refer to Troubleshoot Collisions in Simulation for more information.