Methods and systems for determining efficient robot-base position
AssigneeSiemens Product Lifecycle Management Software Inc.
InventorMoshe Hazan
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Abstract
Various disclosed embodiments include systems and methods for determining an efficient robot-base position. The method includes receiving available robot-base positions and determining valid robot-base positions from the available robot-base positions. The method includes generating for the valid robot-base positions respective directed graphs providing a plurality of robotic-paths. The method includes determining the shortest robotic-path between start and end nodes. The method includes determining and storing the efficient robot-base position from the valid robot-base positions, wherein the efficient robot-base position has the shortest, collision-free robotic-path between start and end nodes.
Claims20
A method for determining an efficient robot-base position by a data processing system, comprising:
- receiving an ordered set of locations defining order, position and orientation for an end of arm of a robot;
- determining available robot-base positions;
- determining valid robot-base positions from the available robot-base positions, wherein the end of arm can access the ordered set of locations from the valid robot-base positions without collision;
- determining robot-joint configurations corresponding to the valid robot-base positions, wherein the robot-joint configurations define positions of robot-joints for the ordered set of locations;
- generating for the valid robot-base positions respective directed graphs providing a plurality of robotic-paths, wherein the robotic-paths comprise a plurality of nodes including a start and an end node arranged based on the order for the ordered set of locations and a plurality of directional connectors having respective weight factors connecting the nodes, wherein the nodes represent the robot-joint configurations at the ordered set of locations and the weight factors represent an effort required by the robot-joints to rotate;
- determining a shortest robotic-path between the start and the end nodes, wherein the shortest robotic-path is based on the weight factors of the directional connectors;
- and
- determining and storing the efficient robot-base position from the valid robot-base positions by the data processing system, wherein the efficient robot-base position has the shortest robotic-path between the start and the end nodes.
A non-transitory computer-readable medium encoded with computer-executable instructions for determining an efficient robot-base position, wherein the computer-executable instructions when executed cause at least one system to:
- receive an ordered set of locations defining order, position and orientation for an end of arm of a robot;
- determine available robot-base positions;
- determine valid robot-base positions from the available robot-base positions, wherein the end of arm may access the ordered set of locations from the valid robot-base positions;
- determine robot-joint configurations corresponding to the valid robot-base positions, wherein the robot-joint configurations define positions of robot-joints for the ordered set of locations;
- generate for the valid robot-base positions respective directed graphs providing a plurality of robotic-paths, wherein the robotic-paths comprise a plurality of nodes including a start and an end node arranged based on the order for the ordered set of locations and a plurality of directional connectors having respective weight factors connecting the nodes, wherein the nodes represent the robot-joint configurations at the ordered set of locations and the weight factors represent an effort required by the robot-joints to rotate;
- determine a shortest robotic-path between the start and the end nodes, wherein the shortest robotic-path is based on the weight factors of the directional connectors;
- and
- determine and store the efficient robot-base position from the valid robot-base positions, wherein the efficient robot-base position has the shortest robotic-path between the start and the end nodes.
A system for determining an efficient robot-base position, comprising:
- at least one processor;
- a memory connected to the processor, wherein the system is configured to:
- receive an ordered set of locations defining order, position and orientation for an end of arm of a robot;
- determine available robot-base positions;
- determine valid robot-base positions from the available robot-base positions, wherein the end of arm may access the ordered set of locations from the valid robot-base positions;
- determine robot-joint configurations corresponding to the valid robot-base positions, wherein the robot joint configurations define positions of robot joints of for the ordered set of locations;
- generate for the valid robot-base positions respective directed graphs providing a plurality of robotic-paths, wherein the robotic-paths comprise a plurality of nodes including a start and an end node arranged based on the order for the ordered set of locations and a plurality of directional connectors having respective weight factors connecting the nodes, wherein the nodes represent the robot-joint configurations at the ordered set of locations and the weight factors represent an effort required by the robot-joints to rotate;
- determine a shortest robotic-path between the start and the end nodes, wherein the shortest robotic-path is based on the weight factors of the directional connectors;
- and
- determine and store the efficient robot-base position from the valid robot-base positions by the processor, wherein the efficient robot-base position has the shortest robotic-path between the start and the end nodes.
Dependencies are inferred from the claim text.