May I use kinematics to control only the fork of a transporter? I would like to use AGV network to control the movement of forklift, so that it's not bump into the rack when loading and unloading. While when use AGV networks, the forklift is pick and place the pallet directly, but I need to show the action of the fork, could I choose "fork" as object in Apply Kinematics activity?
Also when use AGV network, how could I let forklift to unload at specific storage space?
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Components of an object can normally be moved by kinematics, however the fork is a special case. It can be controlled through four nodes in the transporter's variables node.
Setting the "forkbegintime" value will start an animation at that time, moving the fork from the "forkinitialheight" to "forkdestheight", with a speed of "forkspeed". The "object.setVariable()" command can be used to set these values.
To place an item in a specific storage slot, you can use the "Find Slot" process flow activity. In it, you can use a query to narrow down the number of slots that can be found/assigned.
https://docs.flexsim.com/en/21.2/Reference/ProcessFlowObjects/Warehousing/FindSlot/
In the attached model, I use it to only place one pallet into each slot of the rack (find an empty slot for each new pallet; only four slots available so model stops when all are filled). The found slot can also be assigned to a label on the token. Then this reference can be used to move the fork to the correct height prior to unloading.
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