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:
Sep. 29, 2015
Filed:
May. 02, 2012
H. Dean Mcgee, Rochester Hills, MI (US);
Tien L. Chang, Troy, MI (US);
Peter Swanson, Lake Orion, MI (US);
Jianming Tao, Troy, MI (US);
Di Xiao, Rochester Hills, MI (US);
Ho Cheung Wong, Troy, MI (US);
Sai-kai Cheng, Rochester Hills, MI (US);
Jason Tsai, Bloomfield Hills, MI (US);
H. Dean McGee, Rochester Hills, MI (US);
Tien L. Chang, Troy, MI (US);
Peter Swanson, Lake Orion, MI (US);
Jianming Tao, Troy, MI (US);
Di Xiao, Rochester Hills, MI (US);
Ho Cheung Wong, Troy, MI (US);
Sai-Kai Cheng, Rochester Hills, MI (US);
Jason Tsai, Bloomfield Hills, MI (US);
Fanuc Robotics America Corporation, Rochester Hills, MI (US);
Abstract
A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.