Method Of Building A Geometric Representation Over A Working Space Of A Robot
AssigneeABB Schweiz AG
InventorMorten STRANDBERG
Life of this patent
Estimating the term…
Abstract
A method of building a geometric representation over a working space of a robot is provided. The method is performed in a control device and includes: representing the working space by a three-dimensional structure, obtaining information on a trajectory in the working space travelled by the robot as being collision free, determining, based on the obtained information on the collision free trajectory and on information on geometry of the robot, a volume in the working space to be free space, the volume corresponding to the geometry of at least a part of the robot having travelled along the trajectory, and updating the three-dimensional structure by indicating the determined volume of the three-dimensional structure as free space.
Claims17
A method of building a geometric representation over a working space of a robot, the method being performed in a control device and comprising:
- representing the working space by a three-dimensional structure,
- obtaining information on a trajectory in the working space travelled by the robot as being collision free,
- determining, based on the obtained information on the collision free trajectory and on information on geometry of the robot, a volume in the working space to be free space, the volume corresponding to the geometry of at least a part of the robot having travelled along the trajectory, and
- updating the three-dimensional structure by indicating the determined volume of the three-dimensional structure as free space.
The method as claimed in claim, wherein the obtaining information includes receiving information from at least one sensor arranged on the robot and having moved from a start position to an end position of the trajectory.
A computer program for a control device for building a geometric representation over a working space of a robot, the computer program including a computer program code, which, when executed on at least one processor on the control device causes the control device to perform a method comprising:
- representing the working space by a three-dimensional structure,
- obtaining information on a trajectory in the working space travelled by the robot as being collision free,
- determing, based on the obtained information on the collision free trajectory and on information on geometry of the robot, a volume in the working space to be free space, the volume corresponding to the geometry of at least a part of the robot having travelled along the trajectory, and
- updating the three-dimensional structure by indicating the determined volume of the three-dimensional structure as free space.
A control device for building a geometric representation over a working space of a robot, the control device being configured to:
- represent the working space by a three-dimensional structure,
- obtain information on a trajectory in the working space travelled by the robot as being collision free,
- determine, based on the obtained information on the collision free trajectory and on information on geometry of the robot, a volume in the working space to be free space, the volume corresponding to the geometry of at least a part of the robot having travelled along the trajectory, and
- update the three-dimensional structure by indicating the determined volume of the three-dimensional structure as free space.
Dependencies are inferred from the claim text.