Method for collision-free path planning of an industrial robot

• US 8,914,152 B2
• Filed: 02/01/2011
• Issued: 12/16/2014
• Est. Priority Date: 02/10/2010
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Inventors: Scheurer, Christian, Zimmermann, Uwe
• Primary Examiner(s): Jen, Ian
• Application Number:
  US13/018,493
• Publication Number:
  US 20110196533A1
• Time in Patent Office: 1,414 Days
• Field of Search: 700/159, 700/245, 700/253, 700/254, 700/255, 700/258, 700/259, 700/264, 700/61, 700/86, 700/97, 700/98, 901/1, 901/2, 901/14, 901/3, 901/332, 901/42, 901/46, 901/47, 901/9
• US Class Current: 700/255
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40442 Voxel map, 3-D grid map
• CPC Class Codes: G05B 2219/40476 Collision, planning for collision free path

Abstract

The invention relates to a method for collision-free path planning for an industrial robot (1) which has a control device (9) and a robot arm (2) that is movable with the aid of the control device (9), to which an object (11) is attached, and in whose working space at least one obstacle (12) is situated.

Claims

1. A method for planning a collision-free path for moving an object using an industrial robot having a robot arm controlled by a control device, wherein a working space of the robot includes at least one obstacle, the method comprising:

creating a three-dimensional model of the working space of the industrial robot in cylindrical coordinates;

modeling the at least one obstacle in the three-dimensional model as at least one hollow cylindrical first segment;

dividing the region of the three-dimensional model that is not occupied by the first segment into a plurality of cylindrical second segments; and

determining a path along which the industrial robot is to move the object from a first point to a second point using the three-dimensional model, wherein the path is determined such that the object is moved exclusively within a region of the working space corresponding to the second segments, wherein the object is moved along at least a first portion of the path with the object in a first orientation, and wherein the object is moved along at least a second portion of the path with the object in a second orientation different than the first orientation.

2. The method of claim 1, further comprising:

locating an origin of a cylindrical coordinate system for the cylindrical coordinates of the model at an origin of the basic coordinate system of the industrial robot.

3. The method of claim 2, wherein the robot includes a base, a carousel mounted on the base for rotational movement about a vertical axis, a motion link pivotally coupled with the carousel, an extension arm pivotally coupled with the motion link, and a robot hand coupled with the extension arm, the robot hand including a flange for supporting the object, the method further comprising:

locating a vertical axis of the cylindrical coordinate system to coincide with the vertical axis of the robot about which the carousel rotates.

4. The method of claim 1, further comprising:

simulating in the three-dimensional model positions of the robot arm that correspond to positions of the object in the second segments;

determining which second segments in the three-dimensional model are segments where a collision of the robot arm with the obstacle could occur; and

identifying the second segments for which a collision of the robot arm with the obstacle could occur as third segments.

5. The method of claim 1, further comprising:

determining a segment path by selecting adjacent second segments between the first point and the second point; and

calculating the path based on the determined segment path.

6. The method of claim 1, wherein the path is determined such that the object is moved along the path without changing an orientation of the object.

7. The method of claim 1, further comprising:

creating a first three-dimensional model for moving the object along the path in the first orientation; and

creating a second three-dimensional model for moving the object along the path the second orientation.

8. The method of claim 7, further comprising:

planning a rotation of the object from the first orientation to the second orientation;

wherein the object is rotated from the first orientation to the second orientation in a region of the working space corresponding to at least one second segment, such that the at least one second segment is large enough for the object to rotate from the first orientation to the second orientation within the at least one second segment without leaving the at least one second segment.

9. An industrial robot, comprising:

a robot arm including a robot hand having a flange for supporting an object to be moved with the robot arm; and

a control device controlling the robot arm for movement of the object from a first point to a second point within a working space of the robot arm that includes at least one obstacle;

the control device planning a path for moving the object from the first point to the second point by;

creating a three-dimensional model of the working space of the industrial robot in cylindrical coordinates,

modeling the at least one obstacle in the three-dimensional model as at least one hollow cylindrical first segment,

dividing the region of the three-dimensional model that is not occupied by the first segment into a plurality of cylindrical second segments, and

determining a path along which the industrial robot is to move the object from a first point to a second point using the three-dimensional model, wherein the path is determined such that the object is moved exclusively within a region of the workspace corresponding to the second segments, wherein the object is moved along at least a first portion of the path with the object in a first orientation, and wherein the object is moved along at least a second portion of the path with the object in a second orientation different than the first orientation.

10. A method for planning a collision-free path for moving an object using an industrial robot having a robot arm controlled by a control device, wherein a working space of the robot includes at least one obstacle, the method comprising:

creating a three-dimensional model of the working space of the industrial robot in cylindrical coordinates;

modeling the at least one obstacle in the three-dimensional model as at least one hollow cylindrical first segment;

dividing the region of the three-dimensional model that is not occupied by the first segment into a plurality of cylindrical second segments;

simulating in the three-dimensional model positions of the robot arm that correspond to positions of the object in the second segments;

determining which second segments in the three-dimensional model are segments where a collision of the robot arm with the obstacle could occur;

identifying the second segments for which a collision of the robot arm with the obstacle could occur as third segments; and

determining a path along which the industrial robot is to move the object from a first point to a second point using the three-dimensional model, wherein the path is determined such that the object is moved exclusively within a region of the working space corresponding to the second segments.