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:
Feb. 14, 2023
Filed:
Apr. 11, 2019
Pilz Gmbh & Co. KG, Ostfildern, DE;
Pilz GmbH & Co. KG, Ostfildern, DE;
Abstract
A method and corresponding apparatus for collision-free motion planning of a first manipulator in a first working space and a second manipulator in a second working space, wherein the first and second working spaces at least partially overlap. The method includes the steps of importing a first dynamic roadmap for a first configuration space of the first manipulator, wherein the first dynamic roadmap includes a first search graph and a first mapping between the first working space and the first search graph, and importing a second dynamic roadmap for a second configuration space of the second manipulator, wherein the second dynamic roadmap includes a second search graph and a second mapping between the second working space and the second search graph. Furthermore, the motion of the first manipulator and the second manipulator are coordinated based on the first dynamic roadmap and the second dynamic roadmap.