Path planning apparatus of robot and method and computer-readable medium thereof
US8483874B2 · kind B2 · utility
10Cited by
4References
16Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Oct 13, 2010 |
| Grant date | Jul 9, 2013 |
| Priority date | — |
| Expiry date | Aug 12, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40519
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A path planning apparatus of a robot smoothes a motion path while satisfying a constraint. In a configuration space where a manipulator of a robot performs a task, a Rapidly-exploring Random Tree (RRT) path which extends from a start point and reaches a goal point may be smoothed while satisfying a constraint to generate a stable motion path. Accordingly, path planning performance is improved and an optimal path satisfying a kinematic constraint may be rapidly obtained.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.