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

Claim 13:
14. A method for interference checking a multi-robot system, said method comprising:
creating, on a computer having a processor and memory, three dimensional (3D) points defining space occupied by each part of first and second robots operating in a workcell;
updating coordinates of each of the 3D points of each of the robots based on robot joint positions at each step in a planned motion program for the multi-robot system;
converting the 3D points for each of the robots to 3D indices defining workspace grid cell occupancy, for each step in the planned motion program;
converting the 3D indices for each of the robots to 1D indices defining workspace grid cell occupancy;
storing the 1D indices as a set for each of the robots 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 first robot and the set of 1D indices for the second robot at each step in the planned motion program.