Path planning device

Details Path planning device Path planning device

2006-05-01

2011-11-08

Black, Thomas (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S250000, C700S252000, C901S002000, C901S014000, C318S568150

Reexamination Certificate

active

08055383

ABSTRACT:
A path generating device1has a constraint mid-configuration generator10. The constraint mid-configuration generator10defines a constraint surface in a joint angle space. The path generating device1probabilistically generates a mid-configuration in the joint angle space. The constraint mid-configuration generator10projects the probabilistically generated mid-configuration onto the constraint surface to generate a projected mid-configuration. Projected mid-configurations generated in this manner are joined to generate a path that does not interfere with any obstacle (environmental object) in a work space.

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