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Robotic guarded motion system and method

  • US 7,668,621 B2
  • Filed: 07/05/2006
  • Issued: 02/23/2010
  • Est. Priority Date: 07/05/2006
  • Status: Active Grant
First Claim
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1. A method for controlling motion of a robot, comprising:

  • 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 obstacles around the robot;

    testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon; and

    reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

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