What is a Grasping Path Starting Point?

The starting position for planning a path, representing the initial state of the robot or gripper before movement begins. It includes position and posture information to enable planning a safe and collision-free path.

Adding a Grasping Path Starting Point

  1. The pose of the grasping path starting point cannot be set directly through its own parameters but must be achieved by setting the robot pose. When adding a grasping path starting point, you can first set the robot pose:

    1. Open the parameter settings panel, open the robot tool controller in the robot parameters, and select a tool.

    2. Hold the Shift key and drag the controller with the left mouse button to move it to the target position. Click the update scenes points icon on the right side of the path point in the path planning panel to update the starting point pose.

  2. Add a grasping path starting point:

    1. Click + on the right side of the grasping path starting point entry.

    2. Enter a name for the grasping path starting point in the popup window, click Confirm, and the grasping path starting point will be generated at the TCP location.

      alt

      alt

      Before generating the starting point

      After generating the starting point

      Additionally:

      To set multiple starting points, reset the robot pose and then add a starting point. The new starting point will be generated at the TCP location; if the robot pose is not modified, the new starting point will overlap with the original starting point.

  3. Set the grasping path starting point model parameters (optional).

    • Click the set attribute icon to the right of the grasping path starting point name.

    • In the Details popup, you can rename the grasping path starting point, modify its color, set its size, opacity, and coordinate axis length, and view the starting point’s pose information.

      Additionally:

      1. To adjust the starting point pose, you need to reset the robot pose and then click the update scenes points icon to update the starting point pose to the robot’s TCP.

      2. If you do not need to adjust the starting point pose, you can click the robot move points icon icon to move the robot model to that starting point.

      3. To delete the starting point, click the delete icon icon to the right of the starting point name.

What is a Pre-Grasp Point?

A pre-grasp point is an intermediate posture position for the robotic arm before reaching the final grasping target position. It is typically set at the top of the material box or at a user-defined safe position. The purpose is to ensure that the robot can approach the target object along a safe and efficient path, avoiding collisions with the surrounding environment.

Adding Pre-Grasp Points

  1. Click + on the right side of the pre-grasp point entry.

  2. Enter a name for the pre-grasp point in the popup window, adjust the offset direction, offset distance, and collision detection step size, then click Confirm.

    • Offset Distance: As shown in the figure below: ① is the grasping point, ② is the pre-grasp point, and ③ is the offset distance.

    pick path plan prepick distance

    • Offset Direction:

    Method

    Axis

    Along Grasping Point

    X+, X-, Y+, Y-, Z+, Z-

    Along Robot Coordinate System

    X+, X-, Y+, Y-, Z+, Z-

    Custom Direction

    X, Y, Z

    • Custom Direction: X/Y/Z component setting explanation

    Parameter Value

    Description

    0

    No offset in this direction.

    1

    Offset in the positive direction.

    -1

    Offset in the negative direction.

    The pre-grasp point (②) shown in the figure above has X and Y set to 0, and Z set to -1.

    Additionally:

    • To set pre-grasp point parameters, click the set attribute icon to the right of the pre-grasp point name.

    • To delete the pre-grasp point, click the delete icon icon to the right of the pre-grasp point name.