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

Claim 0:
1. A dynamic motion planning system for an industrial robot, said system comprising:
a perception module including at least one sensor or camera configured to detect static and moving obstacles in a workspace of the robot and provide obstacle data including a position and a velocity of each of the obstacles;
a planning module executing on a first computing device having a processor and memory, said planning module being configured to compute a design robot motion based on a target location of a tool center point on a tool attached to the robot;
a motion optimization module executing on the first computing device and receiving the obstacle data from the perception module, said motion optimization module being configured to compute a commanded robot motion based on the design robot motion and the obstacle data, where the commanded robot motion is provided as feedback to the planning module; and
a robot control module executing on the first computing device or a second computing device, said robot control module, at each robot control cycle, computing robot control commands for each robot joint based on the commanded robot motion, providing the robot control commands to the robot, and receiving actual robot state data as feedback from the robot,
where, at each robot control cycle, the planning module computes a new design robot motion using the commanded robot motion provided as feedback, and the motion optimization module computes a new commanded robot motion using the new design robot motion and updated obstacle data from the perception module.