Patent ID: 11951628
Assignee: NATIONAL YANG MING CHIAO TUNG UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 2:
3. The robot controlling method of claim 2, wherein establishing the tool parameter and the obstacle parameter according to the current tool point cloud and the obstacle point cloud respectively by the processing circuit further comprises:
establishing, by the processing circuit, a history tool point cloud information according to the object point cloud;
segmenting, by the processing circuit, an observation tool point cloud from the object point cloud according to the history tool point cloud information;
establishing, by the processing circuit, a prediction tool point cloud according to the history tool point cloud information and a robot pose of the robot; and
superimposing, by the processing circuit, the observation tool point cloud and the prediction tool point cloud to establish the current tool point cloud.