Pilz Gmbh & Co Kg.

Andreas Voelz

Knut Graichen

Daniel Bakovic

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.

Collision-free motion planning for closed kinematics

A method for collision-free motion planning of a first manipulator of a robotic control apparatus from a starting point to a destination point. The method includes repeatedly determining a target path of the first manipulator to the destination point with a global planner, continuously determining a movement of the first manipulator with a local planner based on a current target path of the global planner, and performing the movement by the first manipulator in parallel with the determination by the global planner and the local planner.

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Ostfildern, Germany

Andreas Voelz