Method and apparatus to plan motion path of robot
US8825209B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 21, 2010 |
| Grant date | Sep 2, 2014 |
| Priority date | — |
| Expiry date | Dec 23, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40264
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.