Patent ID: 9555545
Date: 2017-01-31
CPC Classifications: B25J,G05B,Y10S

Claim:
1. A computer-implemented method comprising: receiving ordered sequences of operations for a plurality of corresponding robotic devices, wherein an ordered sequence of operations comprises an ordered sequence of target positions within a workcell; determining, by a computing device, time-based sequences of operations for each of the plurality of corresponding robotic devices, wherein each of the time-based sequences of operations indicates positions of the corresponding robotic device within the workcell at corresponding timesteps of a global timeline, and wherein the positions of the corresponding robotic device within each of the time-based sequences of operations comprise the target positions from the ordered sequences of operations for the corresponding robotic device; determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell; modifying the time-based sequences of operations in order to prevent the one or more potential collisions; and providing instructions to cause parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.