METHOD OF PRODUCING MOTION PLANNING FOR TROWELING ROBOT

摘要

Step present invention to display a screen configured to relates to a path planning for robots a method for plastering, background drawing input mode, plastering area input mode, the structure selection mode, a simulation mode and the preference mode and the like (ST10); Inputting information of plastering area and obstacle through the screen displayed in the step (ST10) (ST20); The step of modeling a symmetric polygonal to facilitate the calculation of the vertex coordinate on the robot plastering (ST30); Cells of a predetermined size for a work area for the plaster division obstacle map generation step (ST40); Potential obstacles leveling step of defining an energy field to the obstacle and its surrounding cells (ST50); Set the main transit point to get back around the obstacles and track point creation step to create a path (ST60); If yes is determined by the final path generating step one proceeds to the next step, if no repeat this series of connections passing through the phase start cell and the target inter-cell go to ST40 to occur (ST70); And, while the resulting final path to be checked visually as characterized by comprising a simulation performing step (ST80) of storing the generated data to be transmitted to the plastering robot, by using the drawing data for the pre-inputted work area that generated the best route to increase the working efficiency of in accordance with the following carrying out the simulation graphically displayed at the same time is effective for preventing electric shock in case of unexpected.