SIMULATION ASSISTED PLANNING OF MOTIONS TO LIFT HEAVY OBJECTS

摘要

According to other embodiments, a method planning of motions to lift heavy objects using a robot system comprising a robot and an end effector, includes identifying data comprising (a) rigid bodies included in the robot and the end effector, (b) joints connecting the rigid bodies, and (c) torque limits for each of the joints. The torque limit for a joint indicates a maximum supported torque by a drive operating the joint. A motion path searching algorithm is applied to the input data to identify feasible robot paths. The motion path searching algorithm determines torque of each of joint when evaluating points for inclusion in a feasible robot path. An evaluated point is only included in a feasible robot path if the torque of each of the joints do not exceed the torque limits. At least one of the feasible robot paths is transferred to a controller associated with the robot.