EP4061584A4 - A deterministic robot path planning method for obstacle avoidance - Google Patents

A deterministic robot path planning method for obstacle avoidance Download PDF

Info

Publication number
EP4061584A4
EP4061584A4 EP19953077.5A EP19953077A EP4061584A4 EP 4061584 A4 EP4061584 A4 EP 4061584A4 EP 19953077 A EP19953077 A EP 19953077A EP 4061584 A4 EP4061584 A4 EP 4061584A4
Authority
EP
European Patent Office
Prior art keywords
path planning
obstacle avoidance
planning method
robot path
deterministic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19953077.5A
Other languages
German (de)
French (fr)
Other versions
EP4061584A1 (en
Inventor
Yuanfeng MAO
Guo-Qing Wei
Firdous SALEHEEN
Li Fan
Xiaolan Zeng
Jianzhong Qian
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
EDDA Technology Inc
Original Assignee
EDDA Technology Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by EDDA Technology Inc filed Critical EDDA Technology Inc
Publication of EP4061584A1 publication Critical patent/EP4061584A1/en
Publication of EP4061584A4 publication Critical patent/EP4061584A4/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40476—Collision, planning for collision free path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40546—Motion of object

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
EP19953077.5A 2019-11-22 2019-11-22 A deterministic robot path planning method for obstacle avoidance Pending EP4061584A4 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2019/062766 WO2021101564A1 (en) 2019-11-22 2019-11-22 A deterministic robot path planning method for obstacle avoidance

Publications (2)

Publication Number Publication Date
EP4061584A1 EP4061584A1 (en) 2022-09-28
EP4061584A4 true EP4061584A4 (en) 2023-08-16

Family

ID=75981698

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19953077.5A Pending EP4061584A4 (en) 2019-11-22 2019-11-22 A deterministic robot path planning method for obstacle avoidance

Country Status (2)

Country Link
EP (1) EP4061584A4 (en)
WO (1) WO2021101564A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106527151A (en) * 2017-01-09 2017-03-22 北京邮电大学 Path search method for loaded six-degree-of-freedom space manipulator
CN107953334A (en) * 2017-12-25 2018-04-24 深圳禾思众成科技有限公司 A kind of industrial machinery arm Collision Free Path Planning based on A star algorithms
CN108705532A (en) * 2018-04-25 2018-10-26 中国地质大学（武汉） A kind of mechanical arm obstacle-avoiding route planning method, equipment and storage device
CN110465928A (en) * 2019-08-23 2019-11-19 河北工业大学 A kind of paths planning method of storage commodity pick-and-place mobile platform and the mobile platform

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7974737B2 (en) * 2006-10-31 2011-07-05 GM Global Technology Operations LLC Apparatus and method of automated manufacturing
US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
WO2013181503A1 (en) * 2012-06-01 2013-12-05 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
US9227323B1 (en) * 2013-03-15 2016-01-05 Google Inc. Methods and systems for recognizing machine-readable information on three-dimensional objects

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106527151A (en) * 2017-01-09 2017-03-22 北京邮电大学 Path search method for loaded six-degree-of-freedom space manipulator
CN107953334A (en) * 2017-12-25 2018-04-24 深圳禾思众成科技有限公司 A kind of industrial machinery arm Collision Free Path Planning based on A star algorithms
CN108705532A (en) * 2018-04-25 2018-10-26 中国地质大学（武汉） A kind of mechanical arm obstacle-avoiding route planning method, equipment and storage device
CN110465928A (en) * 2019-08-23 2019-11-19 河北工业大学 A kind of paths planning method of storage commodity pick-and-place mobile platform and the mobile platform

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
JASOUR ASHKAN M. ET AL: "Obstacle Avoidance and Grasping Moving Objects in Non-Stationary Environments for Redundant Robot Manipulators Using NMPC", ICEEE 2009, 12 May 2009 (2009-05-12), XP093060855 *
See also references of WO2021101564A1 *

Also Published As

Publication number Publication date
WO2021101564A1 (en) 2021-05-27
EP4061584A1 (en) 2022-09-28

Similar Documents

Publication Publication Date Title
EP4072459A4 (en) A fast method for robot path planning with obstacle avoidance
EP4096978A4 (en) Method for object avoidance during autonomous navigation
EP4046113A4 (en) Human-in-the-loop robot training for robotic process automation
EP3948472A4 (en) System and method for autonomous operation of a machine
EP3824404A4 (en) A multi-perspective system and method for behavioral policy selection by an autonomous agent
EP3842193A4 (en) Anti-collision detection method for floor sweeping robot
EP3987901A4 (en) Automated travel system for spraying work
EP4007679A4 (en) Robotic manipulators
EP3823795A4 (en) Systems and methods for optimizing route planning for tight turns for robotic apparatuses
EP3770711A4 (en) Method for repositioning robot
EP3787459A4 (en) A plurality of robot cleaner and a controlling method for the same
EP3718121A4 (en) Method for operating a robot
EP3746857A4 (en) System and method for navigating a robotic lawnmower into a docking position
EP3787458A4 (en) A plurality of robot cleaner and a controlling method for the same
EP4180894A4 (en) Method and device for planning obstacle avoidance path for traveling device
PL3857318T3 (en) Method for collision avoidance and laser machining tool
EP3571561A4 (en) Improved work scheduling for a robotic lawnmower
EP3844577A4 (en) Scheduling robots for robotic process automation
EP3599813A4 (en) Robotic mower and method for controlling a robotic mower
EP3972517A4 (en) A system and method for interaction and definition of tool pathways for a robotic cutting tool
EP3790709A4 (en) Robotic motion planning
EP3793781A4 (en) System and method for controlling a robotic wrist
EP4030257A4 (en) Method for preventing robot from colliding with charging base
EP3927500A4 (en) Processing module for a robot
EP3937867A4 (en) Automated laser iridotomy

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220621

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Free format text: PREVIOUS MAIN CLASS: B25J0009000000

Ipc: B25J0009160000

A4 Supplementary search report drawn up and despatched

Effective date: 20230713

RIC1 Information provided on ipc code assigned before grant

Ipc: B25J 9/16 20060101AFI20230707BHEP