US 5,247,608 A · Method and apparatus for achieving dynamic path control of multiple robots

Abstract

Dynamic control of the motion of a plurality of robots (12a and 12b) is accomplished by checking for interference if each robot were to traverse an incremental portion of its programmed path segment, the incremental portion being at least as long as the distance required for the robot to stop. Should there be no interference, each robot is allowed to traverse the incremental path length portion. Otherwise, the robot having the highest priority is enabled to reverse its incremental path segment portion while the other robots which would otherwise interfere are ordered to take evasive action, either to stop if moving, or to move away if stopped. Periodic checks are made for an interference condition at a sufficiently rapid rate so that each non-interfering robot can traverse successive incremental path segment portions in a smooth manner.

Claims10

Dependent claims

A method for dynamically controlling the movement of each of a plurality of robots, each programmed to travel at least one path segment at a preselected velocity and acceleration, to avoid an interference with other robots, comprising the steps of:

(a) independently assigning to each of the robots a priority with respect to an order of movement of said robot relative to the other robots;
(b) checking the likelihood that each robot, if it traverses a next successive incremental portion of its path segment, will interfere with every other robot;
(c) enabling each robot which is found not to interfere with any of the others, to traverse the next successive incremental path segment portion;
otherwise,
(d) for each of the robots found likely to interfere with each other, enabling the robot having a priority higher than every other robot to traverse its next successive incremental path segment portion and causing each interfering robot having a lower priority to alter its motion to avoid interfering with said robot having a higher priority;
and
(e) repeatedly executing the steps (a)-(d).

4 more elements

A method for dynamically controlling the movement of each of a plurality of robots, each energized through an umbilical cord with electrical signals so that each travels at least one rectilinear path segment at a preselected velocity and acceleration, to avoid an interference with other robots, comprising the steps of:

(a) independently assigning to each of the robots a priority with respect to an order of movement of said robot relative to the other robots;
(b) checking the likelihood that each robot, if it traverses a next successive incremental portion of its path segment, will interfere with any other robot or with its associated umbilical cord;
(c) enabling each robot which is found not to interfere, to traverse the next successive incremental path segment portion;
otherwise,
(d) for each of the robots found likely to interfere with another, enabling the robot having a priority higher than each other robot to traverse its next successive incremental path segment portion and causing each interfering robot having a lower priority to alter its motion to avoid interfering with the said robot having a higher priority;
and
(e) repeatedly executing the steps (a)-(d).

4 more elements

Dependencies are inferred from the claim text.

Method and apparatus for achieving dynamic path control of multiple robots

Life of this patent

Method and apparatus for achieving dynamic path control of multiple robots

Life of this patent

Abstract

Claims10