Method For Deciding Valid Working Spot In Robotic Process

A computer program stored in a non-transitory computer-readable storage medium, the computer program causing at least one processor to perform operations to determine a valid working spot of a robot, the operations comprising:

• an operation of identifying a working spot;
• an operation of determining whether a robot is capable of taking at least one pose for working the working spot;
• an operation of determining the working spot as a valid working spot of the robot, when the robot is capable of taking at least one pose for working the working spot;
• and
• an operation of generating a search space for distributing working spots based on the valid working spot of the robot,
• wherein the operation of determining of the working spot as the valid working spot of the robot when the robot is capable of taking at least one pose for working the working spot includes:
• an operation of determining at least one candidate working pose associated with the valid working spot based on the at least one pose;
• and
• an operation of evaluating at least one candidate working pose associated with the valid working spot by utilizing predetermined criteria and determining candidate working poses equal to or fewer than a predetermined number of candidate working poses based on an evaluation result,
• wherein the operation of evaluating at least one candidate working pose associated with the valid working spot by utilizing predetermined criteria and determining the candidate working poses equal to or fewer than the predetermined number of candidate working poses based on an evaluation result includes:
• an operation of determining the candidate working poses equal to or fewer than the predetermined number of candidate working poses by using at least one of:
• distance information to a center of mass of a work target;
• angle information between an axis of the work target and an axis of the robot;
• or
• distance information between a center of mass of the robot and a mesh vertex of the work target.

A computing device, comprising:

• at least one processor;
• and
• a memory,
• wherein the at least one processor is configured to:
• identify a working spot,
• determine whether a robot is capable of taking at least one pose for working the working spot,
• determine the working spot as a valid working spot of the robot when the robot is capable of taking at least one pose for working the working spot, and
• generate a search space for distributing working spots based on the valid working spot of the robot,
• wherein the determining of the working spot as the valid working spot of the robot when the robot is capable of taking at least one pose for working the working spot includes:
• determining at least one candidate working pose associated with the valid working spot based on the at least one pose;
• and
• evaluating at least one candidate working pose associated with the valid working spot by utilizing predetermined criteria and determining candidate working poses equal to or fewer than a predetermined number of candidate working poses based on an evaluation result,
• wherein the evaluating at least one candidate working pose associated with the valid working spot by utilizing predetermined criteria and determining the candidate working poses equal to or fewer than the predetermined number of candidate working poses based on an evaluation result includes determining the candidate working poses equal to or fewer than the predetermined number of candidate working poses by using at least one of:
• distance information to a center of mass of a work target;
• angle information between an axis of the work target and an axis of the robot;
• or
• distance information between a center of mass of the robot and a mesh vertex of the work target.