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:
Oct. 22, 2024
Filed:
Mar. 15, 2022
Fanuc Corporation, Yamanashi, JP;
Hsien-Chung Lin, Fremont, CA (US);
Tetsuaki Kato, Fremont, CA (US);
FANUC CORPORATION, Yamanashi, JP;
Abstract
A robot interference checking motion planning technique using swept volume deformation. A rapidly-exploring random tree (RRT) algorithm generates random sample nodes between a start point and a goal point. Each sample node is evaluated by checking for robot-obstacle interference along a path segment to the node. If an interference exists along the path segment, a swept volume of the segment is used to identify a critical posture where the interference is greatest, and obstacle interference points are used to define a virtual force applied to the robot links to modify the path segment to alleviate the interference condition. A swept volume of the modified path segment is computed and evaluated. If the modified swept volume is collision-free and the modified path segment motion plan meets robot joint range criteria, the modified path segment and the sample node are added to the overall robot motion program.