Process for finding a path in an automated handling system, and handling system with corresponding control module for finding a path

摘要

An Automated handling system has a working area, at least one object in the working area, at least a first numerically controlled arm and at least a second numerically controlled arm. The arms are movable above the working area and have a collision avoidance mechanism. The current actual topography of the working area is determinable, a movement planning algorithm determines a path from a first position to a second position, wherein in the first application of the movement planning algorithm a reference path, a quasi-static collision examination for the path, which has been provided by the movement planning algorithm, is applicable, a dynamic collision examination for the path, which has been suggested by the movement planning algorithm, is applicable, and wherein the collision examination determine whether, when moving the first arm a collision would be provoked.