Patent · US Active

Method and apparatus for collision-free motion planning of a manipulator

US11279033B2 · kind B2 · utility

1Cited by

1References

20Claims

0Family size

Assignee

Pilz GmbH & Co. KG · DE

Inventors

Knut Graichen · Ulm, DE
Andreas VOELZ · Esslingen am Neckar, DE
Daniel BAKOVIC · Esslingen am Neckar, DE

Key dates

Filing date	Sep 12, 2019
Grant date	Mar 22, 2022
Priority date	—
Expiry date	Apr 28, 2040

Classification

Technology area (CPC G)Physics
CPC primaryG05B2219/40477
WIPO fieldHandling
WIPO sectorMechanical engineering

Abstract

A method for collision-free motion planning of a first manipulator of a robotic control apparatus from a starting point to a destination point. The method includes repeatedly determining a target path of the first manipulator to the destination point with a global planner, continuously determining a movement of the first manipulator with a local planner based on a current target path of the global planner, and performing the movement by the first manipulator in parallel with the determination by the global planner and the local planner.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.