Offline Optimal Probe Orientation Strategy for Gantry Systems The thesis presents algorithms and scripts for exact and efficient modelling of collision detection and motion developed during the internship in Sensor Coatings Systems Limited (SCS). Collision detection and motion control are critical aspects of revolution thermal temperature based simulation of measurement process. The thesis is a fusion not only of robotic and programming subject, but requires in-depth knowledge of geometry for the rotation, translation matrices and for the identification of the correct algorithm. This paper concerns the development of one script, that represents two methods or ideas to allocate an amount of points on the component's surfaces: the first method design the process for perpendicular measurements, where the touch probe of the gantry systems measure the surface perpendicularly to the surface with an exact angle of 90 degrees; the second strategy is for parallel measurements, in which the touch probe moves itself parallel to the surface.