Restricted space can cause problems for both motion and positioning systems and the setups on the motion platform as well as for the surroundings. Even when great care is taken during the design of an experimental setup or a production unit, it is not always possible to avoid the risk of collision. The PIVeriMove software calculates the permitted travel ranges for hexapods, if there are any obstacles in the motion range: Whether a sample setup, other moving parts or the wall of the vacuum chamber.
The newly created configurations can be stored as the basis for the geometric calculations in the hexapod controller. The safety gap to the objects is checked online for each motion or position command. This results in new limits for the positions that the hexapod is permitted to occupy.
The target positions and all points along the trajectory where a collision could take place, are checked before being executed. If a collision is impending, the motion is not carried out. For extra safety, a minimum gap can be specified, which is added to the distance irrespective of the direction in space.
The pivot point, which is the reference point for rotation of the platform can be changed at any time.