EP4061584A4 - Procédé déterministe de planification de trajectoire de robot pour éviter des obstacles - Google Patents
Procédé déterministe de planification de trajectoire de robot pour éviter des obstacles Download PDFInfo
- Publication number
- EP4061584A4 EP4061584A4 EP19953077.5A EP19953077A EP4061584A4 EP 4061584 A4 EP4061584 A4 EP 4061584A4 EP 19953077 A EP19953077 A EP 19953077A EP 4061584 A4 EP4061584 A4 EP 4061584A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- path planning
- obstacle avoidance
- planning method
- robot path
- deterministic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39091—Avoid collision with moving obstacles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40476—Collision, planning for collision free path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40546—Motion of object
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/US2019/062766 WO2021101564A1 (fr) | 2019-11-22 | 2019-11-22 | Procédé déterministe de planification de trajectoire de robot pour éviter des obstacles |
Publications (2)
Publication Number | Publication Date |
---|---|
EP4061584A1 EP4061584A1 (fr) | 2022-09-28 |
EP4061584A4 true EP4061584A4 (fr) | 2023-08-16 |
Family
ID=75981698
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19953077.5A Pending EP4061584A4 (fr) | 2019-11-22 | 2019-11-22 | Procédé déterministe de planification de trajectoire de robot pour éviter des obstacles |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP4061584A4 (fr) |
WO (1) | WO2021101564A1 (fr) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106527151A (zh) * | 2017-01-09 | 2017-03-22 | 北京邮电大学 | 一种带负载六自由度空间机械臂的路径搜索方法 |
CN107953334A (zh) * | 2017-12-25 | 2018-04-24 | 深圳禾思众成科技有限公司 | 一种基于a星算法的工业机械臂无碰撞路径规划方法 |
CN108705532A (zh) * | 2018-04-25 | 2018-10-26 | 中国地质大学(武汉) | 一种机械臂避障路径规划方法、设备及存储设备 |
CN110465928A (zh) * | 2019-08-23 | 2019-11-19 | 河北工业大学 | 一种仓储商品取放移动平台及该移动平台的路径规划方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7974737B2 (en) * | 2006-10-31 | 2011-07-05 | GM Global Technology Operations LLC | Apparatus and method of automated manufacturing |
US9119655B2 (en) * | 2012-08-03 | 2015-09-01 | Stryker Corporation | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
KR102145236B1 (ko) * | 2012-06-01 | 2020-08-18 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 영-공간을 이용하여 매니퓰레이터 암 대 환자의 충돌을 회피하는 방법 및 시스템 |
US9102055B1 (en) * | 2013-03-15 | 2015-08-11 | Industrial Perception, Inc. | Detection and reconstruction of an environment to facilitate robotic interaction with the environment |
-
2019
- 2019-11-22 WO PCT/US2019/062766 patent/WO2021101564A1/fr unknown
- 2019-11-22 EP EP19953077.5A patent/EP4061584A4/fr active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106527151A (zh) * | 2017-01-09 | 2017-03-22 | 北京邮电大学 | 一种带负载六自由度空间机械臂的路径搜索方法 |
CN107953334A (zh) * | 2017-12-25 | 2018-04-24 | 深圳禾思众成科技有限公司 | 一种基于a星算法的工业机械臂无碰撞路径规划方法 |
CN108705532A (zh) * | 2018-04-25 | 2018-10-26 | 中国地质大学(武汉) | 一种机械臂避障路径规划方法、设备及存储设备 |
CN110465928A (zh) * | 2019-08-23 | 2019-11-19 | 河北工业大学 | 一种仓储商品取放移动平台及该移动平台的路径规划方法 |
Non-Patent Citations (2)
Title |
---|
JASOUR ASHKAN M. ET AL: "Obstacle Avoidance and Grasping Moving Objects in Non-Stationary Environments for Redundant Robot Manipulators Using NMPC", ICEEE 2009, 12 May 2009 (2009-05-12), XP093060855 * |
See also references of WO2021101564A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP4061584A1 (fr) | 2022-09-28 |
WO2021101564A1 (fr) | 2021-05-27 |
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RIC1 | Information provided on ipc code assigned before grant |
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