Anti-collision management of overlapping robotic movements
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United States of America Patent
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Jul 18, 2017
Grant Date -
Feb 2, 2017
app pub date -
Jul 27, 2015
filing date -
Jul 27, 2015
priority date (Note) -
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Abstract
Systems and a method for anti-collision management of two or more robots with at least partially overlapping robotic movements are provided. The systems and method include receiving inputs from two or more single robots performing robotic operations along a trajectory defining for each robot a single swept volume. Discretized subswept volumes are created between robotic path locations for each single robot according to one or more discretization criteria such that the operation of each single robot moving along the known trajectory is controlled to allow synchronized execution of robotic operations. Only overlapping discretized subswept volumes are considered for synchronization. This enables focusing only on the relevant collision-prone areas. Deadlocks may be prevented by a look-ahead behavior. Smart synchronization methodology allows optimizing cycle time.
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