Method for calculating the length of work trajectory of a task-performing robot

A computer program stored in a non-transitory computer-readable storage medium, wherein when the computer program is executed by one or more processors, the computer program causes one or more processors to perform operations for calculating a work trajectory of a task-performing robot, the operations comprising:

• an operation of determining available work points of a task-performing robot;
• an operation of estimating whether a Cartesian move of the task-performing robot is possible for any two points among the determined available work points;
• an operation of generating a plurality of candidate work trajectories for the task-performing robot based on whether the Cartesian move is possible;
• and
• an operation of predicting a distance between the determined available work points based on the generated plurality of candidate work trajectories in order to distribute a target work point to the task-performing robot.

A computing device comprising:

• at least one processor;
• and
• a memory,
• wherein at least one processor is configured to:
• determine available work points of a task-performing robot,
• estimate whether a Cartesian move of the task-performing robot is possible for any two points among the determined available work points,
• generate a plurality of candidate work trajectories for the task-performing robot based on whether the Cartesian move is possible, and
• predict a distance between the determined available work points based on the generated plurality of candidate work trajectories in order to distribute a target work point to the task-performing robot.