Patent ID: 11872704
Assignee: FANUC CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 12:
13. A method for dynamic motion planning for an industrial robot, said method executed on at least one computing device and comprising:
computing a design robot motion based on a target location of a robot tool center point;
computing a commanded robot motion based on the design robot motion and obstacle data received from sensors, the obstacle data including positions and velocities of static and moving obstacles, where the commanded robot motion is provided as feedback;
computing robot joint control commands based on the commanded robot motion;
providing the robot joint control commands to the robot; and
receiving actual robot joint state data as feedback from the robot,
where, at each robot control cycle, a new design robot motion is computed using the commanded robot motion provided as feedback, and a new commanded robot motion is computed using the new design robot motion and updated obstacle data from the sensors.