The safety gap to the objects is checked online for each motion or position command. The newly created configurations can be stored as the basis for the geometric calculations in the hexapod controller. 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. 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.
Restricted space can cause problems for both motion and positioning systems and the setups on the motion platform as well as for the surroundings.