Obstacle avoidance in URScript

Hi everyone.
Is it possible for URScript move commands to perform path planning with obstacle avoidance?
For instance, declaring a set of cuboid regions of space that the robot body should not collide with, and then run all the following move commands with those obstacles taken into account.

This is because it would be very desirable to have the feature inside the UR controller itself and not having to rely on complicated external frameworks.


Hello @paladini.marco

this is currently not possible to the extend you describe it.

There is the option to use safety planes, which can be set to prevent the robot from moving through. But those will not be considered during the path planning. You can find further information on these in our support page.

To achieve the behavior described in your post you would need to rely on external tools.


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Thanks for the quick reply!