Method for collision-free motion planning

US11577393B2 · kind B2 · utility

Assignee

• Pilz GmbH & Co. KG · DE

Inventors

• Knut Graichen · Ulm, DE
• Andreas Volz · Aachen, DE
• Daniel BAKOVIC · Esslingen am Neckar, DE

Key dates

• Filing date: Apr 11, 2019
• Grant date: Feb 14, 2023
• Expiry date: Dec 15, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40438
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method and corresponding apparatus for collision-free motion planning of a first manipulator in a first working space and a second manipulator in a second working space, wherein the first and second working spaces at least partially overlap. The method includes the steps of importing a first dynamic roadmap for a first configuration space of the first manipulator, wherein the first dynamic roadmap includes a first search graph and a first mapping between the first working space and the first search graph, and importing a second dynamic roadmap for a second configuration space of the second manipulator, wherein the second dynamic roadmap includes a second search graph and a second mapping between the second working space and the second search graph. Furthermore, the motion of the first manipulator and the second manipulator are coordinated based on the first dynamic roadmap and the second dynamic roadmap.