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 PDF

Info

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
Application number
EP19953077.5A
Other languages
German (de)
English (en)
Other versions
EP4061584A1 (fr
Inventor
Yuanfeng MAO
Guo-Qing Wei
Firdous SALEHEEN
Li Fan
Xiaolan Zeng
Jianzhong Qian
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
EDDA Technology Inc
Original Assignee
EDDA Technology Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by EDDA Technology Inc filed Critical EDDA Technology Inc
Publication of EP4061584A1 publication Critical patent/EP4061584A1/fr
Publication of EP4061584A4 publication Critical patent/EP4061584A4/fr
Pending legal-status Critical Current

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)
EP19953077.5A 2019-11-22 2019-11-22 Procédé déterministe de planification de trajectoire de robot pour éviter des obstacles Pending EP4061584A4 (fr)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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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