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:
Nov. 26, 2024
Filed:
Dec. 06, 2021
Fanuc Corporation, Yamanashi, JP;
Hsien-Chung Lin, Fremont, CA (US);
Chiara Talignani Landi, Reggio Emilia, IT;
Chi-Keng Tsai, Bloomfield Hills, MI (US);
Tetsuaki Kato, Fremont, CA (US);
FANUC CORPORATION, Yamanashi, JP;
Abstract
A method and system for motion planning for robots with a redundant degree of freedom. The technique computes a collision avoidance motion plan for a robot with a redundant degree of freedom, without artificially constraining the extra degree of freedom. The motion planning is formulated as a quadratic programming optimization calculation having a multi-component objective function and a collision avoidance constraint function. The formulation is efficient enough to compute the motion plan in real time at every robot control cycle. The collision avoidance constraint ensures clearance of all parts of the robot from both static and dynamic obstacles. Objective function terms include minimizing path deviation, joint velocity regularization and robot configuration or pose regularization. Weighting factors on the terms of the objective function are changeable for each control cycle calculation based on obstacle proximity conditions at the time.