PATH PLANNING APPARATUS OF A ROBOT AND A METHOD THEREOF, CAPABLE OF DETERMINING COLLISION BETWEEN AN OBSTACLE AND A ROBOT HAND

摘要

PURPOSE: A path planning apparatus of a robot and a method thereof are provided to safely grasp objects by accurately determining an access path in consideration of access score between the robot and the obstacle.;CONSTITUTION: A path planning method of a robot comprises following steps. If a robot hand moves along the access route candidate selected among multiple access route candidates(P1~P4), whether the robot hand collides with the obstacle is determined. If the robot hand does not collide with the obstacle, the access score corresponding to the access route candidate is calculated. The plan of the access path is completed using the access score.;COPYRIGHT KIPO 2011