Patent ID: 8160745

Claim:
A method for controlling a robot having at least one visual sensor, comprising: defining a target for a motion of the robot; calculating a motion control signal adapted to command the robot to reach the target; at a computing device, calculating a collision avoidance control signal based on closest points of segments of the robot and a virtual object, the virtual object adaptively defining a three-dimensional area between the at least one visual sensor and the target and wherein the three-dimensional area representing an area where the segments of the robot are not to enter; assigning weights to the motion control signal and the collision avoidance control signal to generate a weighted motion control signal and a weighted collision avoidance control signal, a weight of the motion control signal higher responsive to risk of the segments of the robot colliding with the virtual object being higher; combining the weighted motion control signal and the weighted collision avoidance control signal to generate a combined signal; and controlling motion of the robot according to the combined signal.