EP 3408061 A1 20181205 - METHOD AND SYSTEM FOR THE PATH PLANNING OF A REDUNDANT ROBOT
Title (en)
METHOD AND SYSTEM FOR THE PATH PLANNING OF A REDUNDANT ROBOT
Title (de)
VERFAHREN UND SYSTEM ZUR BAHNPLANUNG EINES REDUNDANTEN ROBOTERS
Title (fr)
PROCÉDÉ ET SYSTÈME POUR PLANIFIER LA TRAJECTOIRE D'UN ROBOT REDONDANT
Publication
Application
Priority
- DE 102016000754 A 20160126
- EP 2017000054 W 20170118
Abstract (en)
[origin: WO2017129352A1] The invention relates to a method according to the invention for the at least partially automated path planning of a multi-axial robot (1) comprising the step of resolving (S20, S40, S50) a redundancy of the robot with respect to a path (B) specified in a workspace of the robot in such a way that a mixed quality criterion, which comprises an effective mass of the robot and a magnitude of a minimum collision force of the robot that can be detected on the basis of specified detection limit values for axial forces of the robot, is minimal.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP)
B25J 9/1643 (2013.01); B25J 9/1666 (2013.01); G05B 2219/39086 (2013.01); G05B 2219/40336 (2013.01); G05B 2219/40369 (2013.01); G05B 2219/40465 (2013.01)
Citation (search report)
See references of WO 2017129352A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
DE 102016000754 A1 20170727; EP 3408061 A1 20181205; WO 2017129352 A1 20170803
DOCDB simple family (application)
DE 102016000754 A 20160126; EP 17700889 A 20170118; EP 2017000054 W 20170118