The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 18, 2022
Filed:
Nov. 22, 2019
Fanuc Corporation, Yamanashi, JP;
Hsien-Chung Lin, Fremont, CA (US);
Tetsuaki Kato, Fremont, CA (US);
FANUC CORPORATION, Yamanashi, JP;
Abstract
A state machine controller to dynamically plan a robot's path. An industrial robot such as a multi-arm articulated robot operates in a workspace according to a program. A sensor or camera monitors the workspace and detects any object, such as a person, approaching or entering the workspace. The sensor provides input to the state machine controller, which includes states of; track current path, change speed, and replan path. When an object approaches or enters the workspace, the state machine determines if a transition to the change speed state is necessary. After reducing robot speed in the change speed state, the state machine can resume the original path and speed if the object has cleared the workspace, further reduce speed to zero if necessary to avoid a collision, or transition to the replan path state to compute a new path to the goal position which avoids the object in the workspace.