G - Physics – 05 – B
Patent
G - Physics
05
B
G05B 19/41 (2006.01) B25J 9/16 (2006.01) G05B 19/4103 (2006.01)
Patent
CA 2514204
A method and system for planning and optimizing the movement of a robotic device comprises establishing a plurality of spatial locations where the device can possibly be positioned and establishing rule sets for constraining movement of the robotic device between the locations. Once a start and end point have been determined, the method of the invention calculates all possible routes for the device to move, via the established locations and following the constraints of the rule sets. The calculated routes are then compared to a criteria, such as minimizing time, and an optimum route, meeting the desired criteria is determined. The calculated routes may also be cached for future access. The invention also provides for an error recovery method for allowing a robotic device to recover should it encounter an error.
L'invention concerne un procédé et un système de prévision et d'optimisation du mouvement d'un appareil robotisé, consistant à établir une pluralité de zones spatiales dans lesquelles l'appareil peut être placé, et à établir des ensembles de règles destinées à limiter le mouvement de l'appareil robotisé auxdites zones. Lorsqu'un point de départ et un point final ont été déterminés, on calcule toutes les trajectoires possibles de l'appareil, via les zones établies, en fonction des limites fixées par les ensembles de règles. Les trajectoires calculées peuvent également être mises en antémémoire pour l'accès futur. L'invention concerne également un procédé de récupération d'erreur permettant de rétablir l'appareil robotisé en cas d'erreur.
Johnson Stephen Wayne
Mccrackin Daniel Curtis
Piasetzki Nenniger Kvas Llp
Thermo Crs Ltd.
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