Route creation method and route creation device
AssigneeToyota Jidosha Kabushiki Kaisha
InventorShintaro YOSHIZAWA
Life of this patent
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Abstract
Disclosed is a route creation method capable of creating a travel route which reduces the travel quantity of a robot and achieves the efficient travel of the robot. The route creation method and route creation device creates a plurality of candidate routes by using an intermediate point generated between the initial position and the final position set in advance, and thereafter evaluates the travel quantity of a traveling part of a robot with respect to each candidate route to select a candidate route, which achieves the most efficient travel, as a travel route.
Claims8
A route creation method of creating a travel route of a traveling part to be moved by the operation of joints in a robot having a plurality of joints, the route creation method comprising the steps of:
- generating an intermediate point between the initial position and the final position of the travel route and creating a plurality of candidate routes as candidates of the travel route between the initial position and the final position with the intermediate point as a target;
- and
- evaluating the travel quantity of the traveling part of the robot with respect to each candidate route to select one travel route,
- wherein, when a plurality of candidate routes are created, a partial route of a previously created candidate route is used.
A route creation device for creating a travel route of a traveling part to be moved by the operation of joints in a robot having a plurality of joints, the route creation device comprising:
- a candidate route creation unit generating an intermediate point between the initial position and the final position of the travel route and creating a plurality of candidate routes as candidates of the travel route between the initial position and the final position with the intermediate point as a target;
- and
- a travel quantity evaluation unit evaluating the travel quantity of the traveling part of the robot with respect to each candidate route to select one travel route,
- wherein the candidate route creation unit creates a plurality of candidate routes by using a partial route of a previously created candidate route.
Dependencies are inferred from the claim text.