Patent ID: 8914152
Filing Date: 2014-12-16
Classification: B25J,G05B

Abstract:
1. A method for planning a collision-free path for moving an object using an industrial robot having a robot arm controlled by a control device, wherein a working space of the robot includes at least one obstacle, the method comprising: creating a three-dimensional model of the working space of the industrial robot in cylindrical coordinates; modeling the at least one obstacle in the three-dimensional model as at least one hollow cylindrical first segment; dividing the region of the three-dimensional model that is not occupied by the first segment into a plurality of cylindrical second segments; and determining a path along which the industrial robot is to move the object from a first point to a second point using the three-dimensional model, wherein the path is determined such that the object is moved exclusively within a region of the working space corresponding to the second segments, wherein the object is moved along at least a first portion of the path with the object in a first orientation, and wherein the object is moved along at least a second portion of the path with the object in a second orientation different than the first orientation.