Dynamic obstacle avoidance in a robotic system
US9403275B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 17, 2014 |
| Grant date | Aug 2, 2016 |
| Priority date | — |
| Expiry date | Nov 4, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40519
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic system includes an end-effector, an input device, and a controller. The input device is operable for collecting data defining a position and a velocity of a dynamic obstacle in an environment of the end-effector. The dynamic obstacle has an arbitrary shape. The controller is in communication with the end-effector and is programmed to execute a method and thereby receive a set of inputs via the input device, including the position and velocity of the dynamic obstacle. The controller computes a contour function defining the closest allowed distance and direction between the end-effector and the dynamic obstacle using the Gilbert-Johnson-Keerthi algorithm, and controls the end-effector via an output command to thereby avoid contact between the end-effector and the dynamic obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.