Apparatus and method of automated manufacturing
First Claim
1. A method of optimizing collision free path planning for an automated manufacturing cell, comprising:
- initializing a plurality of feasible configuration points;
initializing a first plurality of sample points located in a free space;
initializing a second plurality of sample points not located in said free space;
determining an initial goodness rating of said first and second pluralities of sample points and said plurality of feasible configuration points;
generating a plurality of new candidate points;
determining if each of said new candidate points is a feasible configuration point;
adding respective ones of said new candidate points to said plurality of feasible configuration points if said respective ones are feasible configuration points;
determining if said respective ones of said new candidate points are located in said free space if said respective ones are not feasible configuration points;
adding said respective ones to said first plurality of sample points if said respective ones are located in said free space and are not feasible configuration points;
adding said respective ones to said second plurality of sample points if said respective ones are not located in said free space and are not feasible configuration points;
determining an updated goodness rating of said first and second pluralities of sample points and said plurality of feasible configuration points;
updating a motion planning algorithm;
determining if a termination criteria has been met;
reporting one of a best solution and no solution as the optimized collision free path if said termination criteria has been met; and
repeating said generating a plurality of new candidate points and determining if each of said new candidate points is a feasible configuration point if said termination criteria has not been metwherein a controller is operatively connected to the automated manufacturing cell and the method is programmed into and is executed by the controller.
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Accused Products
Abstract
An apparatus and method of optimizing collision free path planning comprising: initializing a plurality of feasible configuration points, sample points located in a free space, and sample points not located in the free space; determining a goodness rating of the various pluralities of points; generating new candidate points; determining if each new candidate point is a feasible configuration point and adding each to the plurality of feasible configuration points if it is; if not, determining if each new candidate point is located in the free space and adding it to the plurality of sample points located in the free space if it is; if not, adding to the plurality of sample points not located in the free space; determining an updated goodness rating of the various pluralities of points; determining if a termination criteria has been met and reporting a best solution or no solution if it has been met.
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Citations
20 Claims
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1. A method of optimizing collision free path planning for an automated manufacturing cell, comprising:
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initializing a plurality of feasible configuration points; initializing a first plurality of sample points located in a free space; initializing a second plurality of sample points not located in said free space; determining an initial goodness rating of said first and second pluralities of sample points and said plurality of feasible configuration points; generating a plurality of new candidate points; determining if each of said new candidate points is a feasible configuration point; adding respective ones of said new candidate points to said plurality of feasible configuration points if said respective ones are feasible configuration points; determining if said respective ones of said new candidate points are located in said free space if said respective ones are not feasible configuration points; adding said respective ones to said first plurality of sample points if said respective ones are located in said free space and are not feasible configuration points; adding said respective ones to said second plurality of sample points if said respective ones are not located in said free space and are not feasible configuration points; determining an updated goodness rating of said first and second pluralities of sample points and said plurality of feasible configuration points; updating a motion planning algorithm; determining if a termination criteria has been met; reporting one of a best solution and no solution as the optimized collision free path if said termination criteria has been met; and repeating said generating a plurality of new candidate points and determining if each of said new candidate points is a feasible configuration point if said termination criteria has not been met wherein a controller is operatively connected to the automated manufacturing cell and the method is programmed into and is executed by the controller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of automating the determination of, and assuring the realization of optimal weld gun orientations and robot paths in a robotic welding system having a weld gun and at least one predetermined weld point, comprising:
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initializing a plurality of feasible configuration points; initializing a first plurality of sample points located in a free space; initializing a second plurality of sample points not located in said free space; determining an initial goodness rating of said first and second pluralities of sample points and said plurality of feasible configuration points; generating a plurality of new candidate points using an optimization methodology; determining if each of said new candidate points is a feasible configuration point; adding respective ones of said new candidate points to said plurality of feasible configuration points if said respective ones are feasible configuration points; determining if said respective ones of said new candidate points are located in said free space if said respective ones are not feasible configuration points; adding said respective ones to said first plurality of sample points if said respective ones are located in said free space and are not feasible configuration points; adding said respective ones to said second plurality of sample points if said respective ones are not located in said free space and are not feasible configuration points; determining an updated goodness rating of said first and second pluralities of sample points and said plurality of feasible configuration points; updating a probabilistic roadmap path planner; determining if a termination criteria has been met; reporting one of a best solution and no solution as the optimal weld gun orientations and robot paths if said termination criteria has been met; and repeating said generating a plurality of new candidate points and determining if each of said new candidate points is a feasible configuration point if said termination criteria has not been met; wherein said termination criteria is one of an optimized goal configuration, an optimized home configuration, an optimized weld gun orientation, an optimized collision free path, and a predetermined threshold number of iterations; and wherein a controller is operatively connected to the robotic welding system and the method is programmed into and is executed by the controller. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. An apparatus for welding at least one work piece at one or more weld points, comprising:
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a weld gun configured to selectively complete a welding operation at the one or more weld points; an automated support arm operatively connected to said weld gun and configured to reposition said weld gun; a controller operatively connected to said support arm and weld gun and configured to control said repositioning and said selective welding of said weld gun; wherein said controller is programmed and configured to determine an optimization parameter via; initializing a plurality of feasible configuration points; initializing a first plurality of sample points located in a free space; initializing a second plurality of sample points not located in said free space; determining an initial goodness rating of said first and second pluralities of sample points and said plurality of feasible configuration points; generating a plurality of new candidate points using an optimization methodology; determining if each of said new candidate points is a feasible configuration point; adding respective ones of said new candidate points to said plurality of feasible configuration points if said respective ones are feasible configuration points; determining if said respective ones of said new candidate points are located in said free space if said respective ones are not feasible configuration points; adding said respective ones to said first plurality of sample points if said respective ones are located in said free space and are not feasible configuration points; adding said respective ones to said second plurality of sample points if said respective ones are not located in said free space and are not feasible configuration points; determining an updated goodness rating of said first and second pluralities of sample points and said plurality of feasible configuration points; updating a probabilistic roadmap path planner; determining if a termination criteria has been met; reporting one of a best solution and no solution if said termination criteria has been met; and repeating said generating a plurality of new candidate points if said termination criteria has not been met. - View Dependent Claims (19, 20)
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Specification