Methods, systems, and apparatuses, for path planning and execution in a robotic system

A robotic system comprising:

• a robotic manipulator;
• a computational platform communicatively coupled to the robotic manipulator, the computational platform comprising:
• a processor;
• a path planning unit communicatively coupled to the processor, the path planning unit configured to:
• generate, a planned motion path comprising at least, a first path segment and an abort segment, wherein the first path segment is associated with a path to be followed by a joint of the robotic manipulator and queued before an abort segment associated to the first path segment and wherein the abort segment is indicative of a path segment that, in response to execution, results in aborting an operation of the robotic manipulator;
• and
• transmit, the planned motion path to at least one programmable controller (PLC) for execution;
• a robotic controller communicatively coupled to the computational platform and the robotic manipulator, the robotic controller comprising a programmable logic controller (PLC) configured to:
• receive, from the computational platform, the planned motion path;
• validate, the planned motion path based on an analysis of at least, the first path segment and the abort segment of the planned motion path;
• and
• in response to successful validation of the planned motion path, initiate execution of the first path segment.

A method comprising:

• receiving, by a programmable logic controller (PLC), a planned motion path comprising a first path segment and an abort segment associated with the first path segment and temporarily queued after the first path segment, wherein the planned motion path is associated with a path to be followed by a joint of a robotic manipulator and the abort segment is indicative of a path segment that in response to execution results in aborting an operation of the robotic manipulator;
• validating, the planned motion path based on an analysis of at least, the first path segment and the abort segment of the planned motion path;
• and
• in response to successful validation of the planned motion path, initiating execution of the first path segment.