Robotic apparatus implementing collision avoidance scheme and associated methods
AssigneeHarris Corporation
InventorsPaul Michael Bosscher, Daniel Ryan Hedman
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Abstract
A robotic system implements a collision avoidance scheme and includes a first robotic manipulator and a first controller configured to control the first robotic manipulator for movement along a first pre-planned actual path. A second controller is configured to control movement of a second robotic manipulator for movement along a second pre-planned intended path and deviating therefrom to move in a dodging path away from the first pre-planned actual path based upon determining a potential collision with the first robotic manipulator without prior knowledge of the first pre-planned actual path.
Claims23
A robotic apparatus implementing a collision avoidance scheme, comprising:
- a first robotic manipulator;
- a first controller configured to control said first robotic manipulator for movement along a first pre-planned actual path;
- and
- a second robotic manipulator;
- and
- a second controller configured to store geometric models of said first and second robotic manipulators, and control movement of said second robotic manipulator for movement along a second pre-planned intended path and deviating therefrom to move in a dodging path away from the first pre-planned actual path based upon determining a potential collision with said first robotic manipulator based upon the geometric models and without prior knowledge of the first pre-planned actual path.
A robotic apparatus implementing a collision avoidance scheme to avoid a collision with a first robotic manipulator controlled by a first controller for movement along a first pre-planned actual path, the robotic apparatus comprising:
- a second robotic manipulator;
- and
- a second controller configured to store geometric models of said first and second robotic manipulators, and control movement of said second robotic manipulator for movement along a second pre-planned intended path and deviating therefrom to move in a dodging path away from the first pre-planned actual path based upon determining a potential collision with the first robotic manipulator based upon the geometric models and without prior knowledge of the first pre-planned actual path.
A method of implementing a collision avoidance scheme to avoid a collision of a second robotic manipulator with a first robotic manipulator controlled for movement along a first pre-planned actual path, the method comprising:
- operating a second controller to store geometric models of the first and second robotic manipulators, and control movement of the second robotic manipulator for movement along a second pre-planned intended path and deviating therefrom to move in a dodging path away from the first pre-planned actual path based upon determining a potential collision with the first robotic manipulator based upon the geometric models and without prior knowledge of the first pre-planned actual path.
Dependencies are inferred from the claim text.