A METHOD OF BUILDING A GEOMETRIC REPRESENTATION OVER A WORKING SPACE OF A ROBOT

摘要

A method (10) of building a geometric representation over a working space (1) of a robot (2) is provided. The method (10) is performed in a control device (25) and comprises: representing (11) the working space (1) by a three-dimensional structure, obtaining (12) information on a trajectory in the working space (1) travelled by the robot (2) as being collision free, determining (13), based on the obtained information on the collision free trajectory and on information on geometry of the robot (2), a volume in the working space (1) to be free space, the volume corresponding to the geometry of at least a part of the robot (2) having travelled along the trajectory, and updating (14) the three-dimensional structure by indicating the determined volume of the three-dimensional structure as free space.