In this scenario, the weld points are provided as input, leading to noticeable collisions throughout the robot's task.

In DELMIA, the Robot Path Planning feature within the Robot Optimization APP automatically optimizes the trajectory to avoid collisions, including constraints such as Gun opening and closing values, configuration changes, and more.

After the calculation, via points are automatically inserted into the initial task, resulting in a collision-free task that optimizes cycle time. Please note that the Gun opening and closing values are considered throughout the optimization process.