会员体验
专利管家(专利管理)
工作空间(专利管理)
风险监控(情报监控)
数据分析(专利分析)
侵权分析(诉讼无效)
联系我们
交流群
官方交流:
QQ群: 891211   
微信请扫码    >>>
现在联系顾问~
热词
    • 12. 发明公开
    • Method for planning/controlling robot motion
    • Verfahren zur Plannung und Steuerung von Robotern
    • EP0945227A2
    • 1999-09-29
    • EP99109178.6
    • 1995-11-09
    • AMADA COMPANY, LIMITEDU.S. AMADA LTD.
    • Bourne, David AlanKrishnan, Sivaraj Sivarama
    • B25J9/16
    • B25J9/1666G05B2219/40421G05B2219/40444G05B2219/40445G05B2219/40446G05B2219/40458G05B2219/40463G05B2219/40476G05B2219/40488G05B2219/40497G05B2219/45143
    • A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m -1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.
    • 提供了一种计算机化方法/系统,用于规划机器人在由初始位置到目标位置的障碍物限制的自由空间内的运动。 在执行该方法/系统时,产生一个计划,使得机器人可以在由弯曲装置执行的整个弯曲操作的顺序中保持和操纵工件。 针对运动序列中的第m次运动提出了由机器人制造的多个提出的运动,并且将自动空间的限制的机器人和障碍物的至少一部分建模。 确定是否在机器人和每个建议的运动的障碍物之间发生碰撞,并且通过选择运动序列中的每个运动来生成包括运动序列的计划,所提出的不会产生的运动 在碰撞中,这将使机器人更接近目标位置。 在选择拟议运动时,可以考虑与每个拟议运动相关的估计费用。 估计成本可以基于在将特定提议的运动作为第m次运动之后从机器人的位置到达目标位置的欧几里德距离,和/或可以根据机器人行进时间的函数来确定估计成本 (m -1)运动到第m次运动。 提供了不同的方法来执行精细运动规划和总体运动规划。