US 11,707,843 B2 · Initial reference generation for robot optimization motion planning

Abstract

A robot optimization motion planning technique using a refined initial reference path. When a new path is to be computed using motion optimization, a candidate reference path is selected from storage which was previously computed and which has similar start and goal points and collision avoidance environment constraints to the new path. The candidate reference path is adjusted at all state points along its length to account for the difference between the start and goal points of the new path compared to those of the previously-computed path, to create the initial reference path. The initial reference path, adjusted to fit the start and goal points, is then used as a starting state for the motion optimization computation. By using an initial reference path which is similar to the final converged new path, the optimization computation converges more quickly than if a naïve initial reference path is used.

Claims20

Dependent claims

A method for motion planning of an industrial robot, said method comprising:

providing input information for planning a path of a tool on the robot, including a start point and a goal point for the path of the tool;
generating an initial reference path, including selecting a candidate path from a repository of previously computed paths, and transposing and scaling the candidate path to generate the initial reference path with first and last points matching the start point and the goal point, respectively, including transposing a first point of the candidate path by a first deviation to match the start point and transposing a last point of the candidate path by a second deviation to match the goal point;
modeling a robot motion optimization problem, using a computer having a processor and memory, including defining an objective function, and defining the start and goal points of the path as equality constraints;
solving the robot motion optimization problem, by the computer, to yield the path of the tool, where the initial reference path is used as a first iteration in solving the optimization problem;
and
storing the path in the repository.

3 more elements

A path planning system for an industrial robot, said system comprising:

a computer in communication with the robot, said computer having a processor and memory configured for:
receiving input information for planning a path of a tool on the robot, including a start point and a goal point for the path of the tool;
generating an initial reference path, including selecting a candidate path from a repository of previously computed paths, and transposing and scaling the candidate path to generate the initial reference path with first and last points matching the start point and the goal point, respectively, including transposing a first point of the candidate path by a first deviation to match the start point and transposing a last point of the candidate path by a second deviation to match the goal point;
modeling a robot motion optimization problem, including defining an objective function, and defining the start and goal points of the path as equality constraints;
solving the robot motion optimization problem to yield the path of the tool, where the initial reference path is used as a first iteration in solving the optimization problem;
and
storing the path in the repository.

4 more elements

Dependencies are inferred from the claim text.

Initial reference generation for robot optimization motion planning

Life of this patent

Initial reference generation for robot optimization motion planning

Life of this patent

Abstract

Claims20