Robot joint space graph path planning and move execution
US11498213B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 23, 2020 |
| Grant date | Nov 15, 2022 |
| Priority date | — |
| Expiry date | May 12, 2041 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02P90/02
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A system includes a robot arm with multiple joints and one or more end effector to carry a substrate. A processing device determines, within joint space of the robot arm, start/end points of the one or more end effector for a complete movement. The processing device builds, in joint space for the multiple joints and the one or more end effector, a graph of reachable positions and sub-paths between the reachable positions that satisfy Cartesian limits. The reachable positions are identified at a granularity that divides the complete movement into multiple sub-movements. The processing device executes a graph optimization algorithm on the graph to determine multiple paths, each a group of the sub-paths, that have one of shortest distances or lowest costs between the start/end points, and selects a path thereof that minimizes move time of the one or more end effector between the start/end points.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.