Robotic system with collision avoidance mechanism and method of operation thereof
AssigneeMUJIN, Inc.
InventorsKei Usui, Rosen Nikolaev Diankov
Life of this patent
Estimating the term…
Abstract
A robotic system includes a user interface configured to receive a jog command for manually operating a robotic unit; a control unit, coupled to the user interface, configured to: real-time parallel process the jog command including to: execute a collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, execute a jog operation thread to determine whether the unobstructed status is provided within a collision check time limit; and execute the jog command by the robotic unit based on the unobstructed status provided before the collision check time limit.
Claims20
A robotic system comprising:
- a user interface configured to receive a jog command for manually operating a robotic unit;
- a control unit, coupled to the user interface, configured to:
- real-time parallel process the jog command by concurrently executing a collision check thread and a jog operation thread including to:
- execute the collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, and
- execute the jog operation thread to determine whether the unobstructed status is provided within a collision check time limit;
- and
- execute the jog command for the robotic unit based on the unobstructed status provided before the collision check time limit includes termination of the jog command based on a warning of the proximity reading of a sensor unit.
A method of operation robotic system comprising:
- receiving a jog command for manually operating a robotic unit;
- real-time parallel processing the jog command by concurrently executing a collision check thread and a jog operation thread including:
- executing the collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, and
- executing the jog operation thread to determine whether the unobstructed status is provided within a collision check time limit;
- and
- executing the jog command by the robotic unit based on the unobstructed status provided before the collision check time limit includes terminating the jog command based on a warning of the proximity reading of a sensor unit.
A non-transitory computer readable medium including instructions executable by a control unit for a robotic system comprising:
- receiving a jog command for manually operating a robotic unit;
- real-time parallel processing of the jog command by concurrently executing a collision check thread and a jog operation thread including:
- executing the collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, and
- executing the jog operation thread to determine whether the unobstructed status is provided within a collision check time limit;
- and
- executing the jog command by the robotic unit based on the unobstructed status provided before the collision check time limit including terminating the jog command based on a warning of the proximity reading of a sensor unit.
Dependencies are inferred from the claim text.