Patent ID: 11934177
Assignee: SIEMENS AKTIENGESELLSCHAFT
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 3:
4. The method of claim 2, further comprising:
initially defining as nodes, checkpoints and weights for the respective spline only basic nodes and associated checkpoints and weights,
iteratively performing with the monitoring facility, until either no risk for a collision between the elements has been detected or a stop criterion is met, the following steps:
a) checking with the monitoring facility, based on a respective envelope determined by the currently defined checkpoints, whether there is a risk for a collision;
b) accepting with the monitoring facility as final a result of the checking that there is no risk for a collision;
c) checking with the monitoring facility whether the stop criterion is met when there is a risk for a collision between the elements;
d) accepting with the monitoring facility as final a result of the checking that there is a risk for a collision and that the stop criterion is met;
e) defining with the monitoring facility, when there is a risk for a collision and the stop criterion is not met, additional nodes for the respective spline in addition to the currently defined nodes and determining anew the checkpoints and weights, so that the additional nodes and the anew determined checkpoints and weights describe the respective spline as before, wherein a newly determined respective envelope has a shorter maximum distance from the respective spline than the respective envelope determined before the definition of the additional nodes and the newly determined checkpoints.