Food4Rhino

Kuka|prc is a collection of grasshopper components which enables users to control the KUKA robots parametrically. While you are able to solve inverse kinematics for different models of robots and control the robot arms by setting up a predefined tool-path, you may not able to avoid collisions if they arise during the simulation. 

The aim of tool-path optimizer component is to find a collision free solution for a given tool-path by rotating the tool about its rotary axis. This process include printing the axial map by analyzing the all possible tool-paths with different rotation degree and then finding a set of rotations within the map which contains no collisions or singularity.