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A METHOD AND AN APPARATUS FOR AUTOMATICALLY GENERATING A COLLISION FREE RETURN PROGRAM FOR RETURNING A ROBOT FROM A STOP POSITION TO A PREDEFINED RESTART POSITION
A METHOD AND AN APPARATUS FOR AUTOMATICALLY GENERATING A COLLISION FREE RETURN PROGRAM FOR RETURNING A ROBOT FROM A STOP POSITION TO A PREDEFINED RESTART POSITION
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机译:自动生成无碰撞返回程序以将机器人从停止位置返回到预定重新启动位置的方法和装置
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摘要
The present invention relates to a method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position when the robot has been stopped during operation due to an error. The apparatus comprises a receiving part (12) adapted to receive a request for a recovery path and information on the stop position of the robot, a path generating part (14) adapted to generate a collision free recovery path for the robot upon receiving said request, based on the predefined restart position and the stop position of the robot using a path planning algorithm that generates robot positions connected by collision free path segments, and a programming part (16) adapted to generate the return program based on the generated return path.
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