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Systems and methods for generating a robotic path plan in a confined configuration space
Systems and methods for generating a robotic path plan in a confined configuration space
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机译:用于在受限配置空间中生成机器人路径计划的系统和方法
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摘要
A method of automatic path planning for at least one robot within a confined configuration space, the robot including an arm having a plurality of joints and an end effector coupled to the arm. The method includes entering a plurality of process points into a computer, each process point being a location wherein the arm is to be positioned to perform a task, calculating one or more inverse kinematic solutions for each process point, clustering the inverse kinematic solutions into a set of clusters, and generating collision free paths between the clusters in the confined configuration space.
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