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

Claim 10:
11. A dynamic motion planning system for an industrial robot, said system executing on one or more computing devices and comprising:
a planning module configured to compute a design robot motion based on a target location of a robot tool center point;
a motion optimization module configured to compute a commanded robot motion based on the design robot motion and obstacle data received from sensors, the obstacle data including positions and velocities of static and moving obstacles, where the commanded robot motion is provided as feedback to the planning module; and
a robot control module computing robot joint control commands based on the commanded robot motion, providing the robot joint control commands to the robot, and receiving actual robot joint 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 sensors.