Motion path generation device, motion path generation method, and non-transitory tangible computer readable storage medium
AssigneeDenso Corporation
InventorShota Ishikawa
Life of this patent
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Abstract
A motion path generation device generates a motion path of a robot that has a plurality of joints and a plurality of shafts. Adjacent two of the plurality of shafts are connected by a corresponding one of the plurality of joints. The motion path generation device generates a via point candidate that is a candidate of a next via point to be connected to a parent via point. The motion path generation device adds the via point candidate as a new via point in response to determining that the via point candidate does not interfere with an obstacle.
Claims8
A motion path generation device configured to generate a motion path of a robot that has a plurality of joints and a plurality of shafts, adjacent two of the plurality of shafts being connected by a corresponding one of the plurality of joints, the motion path generation device comprising a processor configured to
- select, from a predetermined via point, a parent via point that is a source for searching for a next via point in a joint space, each axis of the joint space defining an angle of each of the plurality of joints, an attitude of the robot being represented by a coordinate in the joint space;
- set a search area for searching for the next via point;
- randomly generate a via point candidate that is a candidate of the next via point to be connected to the parent via point;
- determine whether the via point candidate interferes with an obstacle;
- and
- add the via point candidate as a new via point in response to determining that the via point candidate does not interfere with the obstacle, wherein
- the processor sets the search area in the joint space by setting a change angle range of each of the plurality of joints such that an amount of movement of each shaft of the robot does not exceed a maximum movement amount in a working space of the robot and such that a total of an amount of movement of all of the plurality of shafts does not exceed the maximum movement amount in the working space of the robot,
- the maximum movement amount is defined as an amount of movement of at least one of the plurality of shafts which is smaller than a maximum possible movement amount, and
- the maximum possible movement amount is an amount of movement of all of the plurality of shafts when each of the plurality of joints changes by a specified maximum angle,
- wherein
- the processor randomly generates the via point candidate in the joint space within the change angle range of each of the plurality of joints, which is set as the search area to generate the motion path of the robot.
A motion path generation method configured to generate a motion path of a robot that has a plurality of joints and a plurality of shafts, adjacent two of the plurality of shafts being connected by a corresponding one of the plurality of joints, the motion path generation method comprising;
- selecting, from a predetermined via point, a parent via point that is a source for searching for a next via point in a joint space, each axis of the joint space defining an angle of each of the plurality of joints, an attitude of the robot being represented by a coordinate in the joint space;
- setting a search area for searching for the next via point;
- randomly generating a via point candidate that is a candidate of the next via point to be connected to the parent via point;
- determining whether the via point candidate interferes with an obstacle;
- and
- adding the via point candidate as a new via point in response to determining that the via point candidate does not interfere with the obstacle, wherein
- the setting of the search area in the joint space includes setting of a change angle range of each of the plurality of joints such that a movement amount of each shaft of the robot does not exceed a maximum movement amount in a working space of the robot and such that an amount of movement of all of the plurality of shafts does not exceed a maximum movement amount,
- the maximum movement amount is defined as an amount of movement of at least one of the plurality of shafts which is smaller than a maximum possible movement amount in the working space of the robot, and
- the maximum possible movement amount is an amount of movement of all of the plurality of shafts when each of the plurality of joints changes by a specified maximum angle,
- wherein
- the via point candidate is randomly generated in the joint space within the change angle range of each of the plurality of joints, which is set as the search area to generate the motion path of the robot.
A non-transitory tangible computer readable storage medium comprising instructions executed by a processor of a motion path generation device, the motion path generation device configured to generate a motion path of a robot that has a plurality of joints and a plurality of shafts, adjacent two of the plurality of shafts being connected by a corresponding one of the plurality of joints, the instructions comprising:
- selecting, from a predetermined via point, a parent via point that is a source for searching for a next via point in a joint space, each axis of the joint space defining an angle of each of the plurality of joints, an attitude of the robot being represented by a coordinate in the joint space;
- setting a search area for searching for the next via point;
- randomly generating a via point candidate that is a candidate of the next via point to be connected to the parent via point;
- determining whether the via point candidate interferes with an obstacle;
- and
- adding the via point candidate as a new via point in response to determining that the via point candidate does not interfere with the obstacle, wherein
- the setting of the search area in the joint space includes setting of a change angle range of each of the plurality of joints such that a movement amount of each shaft of the robot does not exceed a maximum movement amount in a working space of the robot and such that an amount of movement of all of the plurality of shafts does not exceed a maximum movement amount,
- the maximum movement amount is defined as an amount of movement of at least one of the plurality of shafts which is smaller than a maximum possible movement amount in the working space of the robot, and
- the maximum possible movement amount is an amount of movement of all of the plurality of shafts when each of the plurality of joints changes by a specified maximum angle,
- wherein
- the via point candidate is randomly generated in the joint space within the change angle range of each of the plurality of joints, which is set as the search area to generate the motion path of the robot.
Dependencies are inferred from the claim text.