Path planning apparatus and method of robot
AssigneeSamsung Electronics Co., Ltd.
InventorsGuochunxu, Kyung Shik Roh, San Lim, Bok Man Lim, Myung Hee Kim
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Abstract
A path planning apparatus and method of a robot, in which a path, along which the robot accesses an object to grasp the object, is planned. The path planning method includes judging whether or not a robot hand of a robot collides with an obstacle when the robot hand moves along one access path candidate selected from plural access path candidates along which the robot hand accesses an object to grasp the object, calculating an access score of the selected access path candidate when the robot hand does not collide with the obstacle, and determining an access path plan using the access score of the selected access path candidate.
Claims13
A path planning method of a robot comprising:
- judging whether or not a robot hand of the robot collides with an obstacle, when the robot hand moves along a first access path candidate selected from a plurality of access path candidates along which the robot hand accesses an object to grasp the object;
- calculating, by a calculating unit, an access score of the selected first access path candidate when the robot hand is judged to not collide with the obstacle;
- and
- determining, by a control unit, an access path plan using the access score of the selected first access path candidate.
A path planning apparatus for a robot comprising:
- a judgment unit to judge whether or not a robot hand of the robot collides with an obstacle, when the robot hand moves along one access path candidate selected from a plurality of access path candidates along which the robot hand accesses an object to grasp the object;
- a calculation unit to calculate an access score of the selected access path candidate when the robot hand is judged to not collide with the obstacle;
- and
- a control unit to determine an access path plan using the access score of the selected access path candidate.
Dependencies are inferred from the claim text.