Motion path search device and method of searching for motion path
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United States of America Patent
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Jul 23, 2013
Grant Date -
Sep 20, 2012
app pub date -
May 29, 2012
filing date -
Nov 12, 2010
priority date (Note) -
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Abstract
A motion path search device includes a motion space identification unit which identifies, as first spaces, three-dimensional spaces passed through by a movable part in direct teaching operations performed by an operator, and a spatial difference calculation unit that calculates a first differential space that is a part of one of the first spaces identified as a result of one of the direct teaching operations and that has no overlap with another of the first spaces identified as a result of another of the direct teaching operations that precedes the one of the direct teaching operations. A feedback unit provides the operator with information regarding the first differential space, and a path search unit searches for a motion path of the movable part within a first accessible space resulting from combining the first spaces after the direct teaching operations.
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