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Robotics virtual rail system and method

  • US 7,974,738 B2
  • Filed: 07/05/2006
  • Issued: 07/05/2011
  • Est. Priority Date: 07/05/2006
  • Status: Active Grant
First Claim
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1. A method for implementing a virtual track for a robot, comprising:

  • on a computer remote from the robot;

    operating a graphical user interface by a user for;

    generating a desired path comprised of a plurality of segments representative of the virtual track for the robot;

    assigning start and end points to the desired path; and

    associating velocities with each of the plurality of segments of the desired path;

    analyzing the desired path to determine velocity transitions between at least some of the plurality of segments and to determine a turn gain of the robot during transition between the at least some of the plurality of segments as the robot traverses the virtual track;

    generating a waypoint file including positions along the virtual track as represented by the desired path, the velocities of each of the plurality of segments and the turn gain between the at least some of the plurality of segments; and

    sending the waypoint file to the robot for traversing the virtual track along the positions from the start point to the end point; and

    on the robot;

    repeating on each iteration through an event timing loop, the acts of;

    defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot;

    detecting a range to an obstacle near the robot; and

    testing for an event horizon intrusion by determining if the range to the obstacle is within the event horizon;

    performing a localization process to determine a present frame of reference for use in alignment of the robot to the virtual track; and

    adjusting the desired path of the robot by;

    determining that the range to the obstacle within the event horizon represents a blockage on the desired path to a next waypoint; and

    avoiding the blockage and pointing at the next waypoint by;

    adjusting a translational velocity of the robot;

    adjusting a rotational velocity of the robot; and

    backing up the robot if there is insufficient room to turn the robot.

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