Patent ID: 9056394
Filing Date: 2015-06-16
Classification: B25J,G05B

Abstract:
1. A method for determining an efficient robot-base position by a data processing system, comprising: receiving an ordered set of locations defining order, position and orientation for an end of arm of a robot; determining available robot-base positions; determining valid robot-base positions from the available robot-base positions, wherein the end of arm can access the ordered set of locations from the valid robot-base positions without collision; determining robot-joint configurations corresponding to the valid robot-base positions, wherein the robot-joint configurations define positions of robot-joints for the ordered set of locations; generating for the valid robot-base positions respective directed graphs providing a plurality of robotic-paths, wherein the robotic-paths comprise a plurality of nodes including a start and an end node arranged based on the order for the ordered set of locations and a plurality of directional connectors having respective weight factors connecting the nodes, wherein the nodes represent the robot-joint configurations at the ordered set of locations and the weight factors represent an effort required by the robot-joints to rotate; determining a shortest robotic-path between the start and the end nodes, wherein the shortest robotic-path is based on the weight factors of the directional connectors; and determining and storing the efficient robot-base position from the valid robot-base positions by the data processing system, wherein the efficient robot-base position has the shortest robotic-path between the start and the end nodes.