Patent ID: 11878424
Assignee: FANUC CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. A method for robot-obstacle interference checking, said method comprising:
creating, on a computer having a processor and memory, three dimensional (3D) points defining space occupied by each part of a robot and another object;
updating coordinates of each of the 3D points of the robot based on robot joint positions at each step in a planned motion program;
converting the 3D points for the robot and the object to 3D indices defining workspace grid cell occupancy, for each step in the planned motion program;
converting the 3D indices for the robot and the object to 1D indices defining workspace grid cell occupancy;
storing the 1D indices as a set for the robot and the object at each step in the planned motion program; and
performing an interference check by computing an intersection, on the computer, of the set of 1D indices for the robot and the set of 1D indices for the object at each step in the planned motion program.