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 (100) comprising a work area (10), at least one object (O1) received in the work area (10), at least first and second numerically controlled arms (11, 12), said arms (11 , 12) are movable over the working area (10) and means for collision avoidance (S, BPA, KP) implemented in such a way thato an actual topography of the work area (10) can be determined,o a movement request (BA1) is processable, which defines a movement in the work area (10) from a first location (A) to a second location (B) for the first arm (11),o a motion planning algorithm (BPA) is applicable which determines a path from the first location (A) to the second location (B),o a quasi-static and a dynamic collision test (KP) are applicable to the path,wherein the collision checks (KP) determine whether a collision would be caused when moving the first arm (11).