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:
Mar. 22, 2022
Filed:
Sep. 12, 2019
Applicant:
Pilz Gmbh & Co. KG, Ostfildern, DE;
Inventors:
Assignee:
Pilz GmbH & Co. KG, Ostfildern, DE;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/16 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1666 (2013.01); B25J 9/1676 (2013.01);
Abstract
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.