Collision-free path generating method in off-site robotic prefabrication and computer-implemented system for performing the same

A computer-implemented system, comprising:

• a user equipment installed with a web browser to enable web browsing to access an internet for a user to operate;
• and
• a cloud computing server system available on the internet providing for the user to operate via the web browser on the user equipment and configured to:
• configure a virtual working environment, containing a plurality of virtual objects at least including the robot, the end effector and a target object consisting of a plurality of basic members and mapped from a working environment in a reality, in a robot simulator;
• implement a three level of detail based three-step collision check scheme that includes three collision check steps as follows to determine boundaries for the plurality of virtual objects:
• randomly sampling a combination of first robot configurations;
• performing a first step based on a first level-of-detail to cover each of the plurality of virtual objects with a first collider having a pre-determined first shape and check whether a first collision is detected between a plurality of first boundaries of a plurality of the first colliders;
• performing a second step based on a second level-of-detail to cover each of a plurality of components include in the each of the plurality of virtual objects with a second collider having a pre-determined second shape and check whether a second collision is detected between a plurality of second boundaries of the plurality of second colliders, if a first collision is detected during the performance of the first step;
• performing a third step based on a third level-of-detail to use a plurality of mesh colliders to cover the each of the plurality of components and check whether a third collision is detected between a plurality of third boundaries of the plurality of mesh colliders, if a second collision is detected during the performance of the second step;
• randomly resampling the combination of robot configurations, if a third collision is detected during the performance of the third step;
• and
• repeatedly implementing the three level of detail based three-step collision check scheme until none of the first collision, the second collision, or the third collision is detected;
• and
• based on the determined boundaries and the randomly resampled combination of robot configurations, perform a heuristic based pathfinding algorithm to compute a collision-free path for the robot and the end effector quipped thereon to move to the target object accordingly.