Patent ID: 8483874
Filing Date: 2013-07-09
Classification: B25J,G05B

Abstract:
1. A method of planning a path of a robot, the method comprising: forming, by at least one processor, a configuration space having a start point, a goal point and a constraint to generate a motion path of a manipulator of the robot; generating, by the at least one processor, a Rapidly-exploring Random Tree (RRT) path connecting the start point and the goal point while satisfying the constraint on the configuration space; selecting first and second points from the RRT path; generating, by the at least one processor, an intermediate path connecting the first and second points selected from the RRT path; projecting, by the at least one processor, the intermediate path and determining when the constraint on the configuration space is satisfied; and storing, by the at least one processor, the two certain points in the RRT path to smooth the RRT path if the constraint on the configuration space is satisfied.