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

Claim 0:
1. 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 objects including at least one robot and one or more obstacles;
updating coordinates of the 3D points of the at least one robot based on robot joint positions at each step in a planned motion program;
converting the 3D points for each of the objects to 3D indices defining workspace grid cell occupancy, for each step in the planned motion program;
converting the 3D indices for each of the objects to 1D indices defining workspace grid cell occupancy;
storing the 1D indices as a set for each of the objects 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 at least one robot and the set of 1D indices for another one of the objects at a step in the planned motion program.