APPARATUS FOR PLANNING PATH OF ROBOT AND METHOD THEREOF
First Claim
1. A method for planning a path of a robot comprising:
- forming by a processor a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot;
generating by a processor one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database;
selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path;
enabling the robot to perform a first motion along the planned path; and
pre-planning a path for a second motion of the robot while the robot performs the motion.
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Abstract
A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.
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Citations
20 Claims
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1. A method for planning a path of a robot comprising:
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forming by a processor a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot; generating by a processor one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database; selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path; enabling the robot to perform a first motion along the planned path; and pre-planning a path for a second motion of the robot while the robot performs the motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 17)
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10. An apparatus for planning a path of a robot comprising:
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a path generator to form a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, and to generate one or more moving paths of the robot within the shape space; a storage unit to store the moving paths generated by the path generator in a database; a first path planning unit to select a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and to plan the selected path; a controller to enable the robot to perform a first motion along the path planned by the first path planning unit; and a second path planning unit to pre-plan a path for a second motion of the robot while the robot performs the first motion. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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18. A method for planning a path of a robot comprising:
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forming by a processor a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, the start point being obtained when a shape at an initial position before the robot performs the first motion is formed in the shape space and the goal point being obtained when a shape at a goal position where the robot performs a motion is formed in the shape space; generating by a processor one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, the generating comprising generating a path at each of the start point and the goal point, and planning a path from among the generated paths; selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path; enabling the robot to perform a first motion along the planned path; and pre-planning a path for a second motion of the robot while the robot performs the motion. - View Dependent Claims (19, 20)
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Specification