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Apparatus and method of automated manufacturing

  • US 7,974,737 B2
  • Filed: 10/30/2007
  • Issued: 07/05/2011
  • Est. Priority Date: 10/31/2006
  • Status: Expired due to Fees
First Claim
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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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