Systems and methods for generating a robotic path plan in a confined configuration space
AssigneeThe Boeing Company
InventorsPhilip L. Freeman, Howie Choset, Matthew Tesch, Glenn Wagner
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Abstract
A method of automatic path planning for at least one robot within a confined configuration space, the robot including an arm having a plurality of joints and an end effector coupled to the arm. The method includes entering a plurality of process points into a computer, each process point being a location wherein the arm is to be positioned to perform a task, calculating one or more inverse kinematic solutions for each process point, clustering the inverse kinematic solutions into a set of clusters, and generating collision free paths between the clusters in the confined configuration space.
Claims13
A method of automatic path planning for at least one robot within a confined configuration space, the robot including an arm having a plurality of joints and an end effector coupled to the arm, said method comprising using a robot control system to:
- receive a plurality of process points, each process point being a location wherein the arm is to be positioned to perform a task;
- calculate one or more inverse kinematic solutions for each process point;
- cluster the inverse kinematic solutions into a set of clusters;
- and
- generate collision free paths between the clusters in the confined configuration space.
A robot control system comprising;
- a robot including an arm having a plurality of joints and an end effector coupled to the arm;
- a robot controller coupled to the robot and configured to reposition the robot in a plurality of positions;
- and
- a computer for performing automatic path planning for the robot, said computer configured to:
- receive a plurality of process points, each process point being a location wherein the arm is to be positioned to perform a task;
- calculate one or more inverse kinematic solutions for each process point;
- cluster the inverse kinematic solutions into a set of clusters;
- and
- generate collision free paths between the clusters in the confined configuration space.
Dependencies are inferred from the claim text.