Robot joint space graph path planning and move execution
US11673267B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 10, 2022 |
| Grant date | Jun 13, 2023 |
| Priority date | — |
| Expiry date | Oct 10, 2042 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02P90/02
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A system includes a robot with a robot arm having multiple joints and an end effector to carry a substrate. A processing device is to build, with respect to a joint space for the multiple joints and the end effector, a graph of reachable positions and sub-paths between the reachable positions, wherein the reachable positions and the sub-paths satisfy Cartesian limits within the joint space. The processing device is to determine, by executing a graph optimization algorithm on the graph, multiple paths, each made up of a group of the sub-paths and having one of a shortest distance or a lowest cost between a start point and an end point of the end effector. The processing device is to select a path, of the multiple paths, through the graph that minimizes a move time of the end effector between the start point and the end point.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.