Patent · US Active

Collision-free motion planning for closed kinematics

US11642785B2 · kind B2 · utility

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1References

25Claims

0Family size

Assignee

Pilz GmbH & Co. KG · DE

Inventors

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

Key dates

Filing date	Jun 12, 2020
Grant date	May 9, 2023
Priority date	—
Expiry date	Apr 2, 2041

Classification

Technology area (CPC G)Physics
CPC primaryG05B2219/50391
WIPO fieldHandling
WIPO sectorMechanical engineering

Abstract

A method is described for collision-free motion planning of a first manipulator with closed kinematics. The method includes defining a dynamic optimization problem, solving the optimization problem using a numerical approach, and determining a first movement path for the first manipulator based on the solution of the optimization problem. The dynamic optimization problem includes a cost function that weights states and control variables of the first manipulator, a dynamic that defines states and control variables of the first manipulator as a function of time, and at least one inequality constraint for a distance to collisions. Furthermore, the optimization problem includes at least one equality constraint for the closed kinematics.

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