| CPC B25J 9/1666 (2013.01) [B25J 9/1671 (2013.01); G05B 17/02 (2013.01)] | 10 Claims |
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1. A collision-free path generating method, for a robot and an end effector equipped thereon to move, comprising:
configuring a virtual working environment, containing a plurality of virtual objects at least including the robot, the end effector and a target object consisting of a plurality of basic members and mapped from a working environment in a reality, in a robot simulator;
implementing a three level of detail based three-step collision check scheme that includes three collision check steps as follows to determine boundaries for the plurality of virtual objects:
randomly sampling a combination of first robot configurations;
performing a first step based on a first level-of-detail to cover each of the plurality of virtual objects with a first collider having a pre-determined first shape and check whether a first collision is detected between a plurality of first boundaries of a plurality of the first colliders;
performing a second step based on a second level-of-detail to cover each of a plurality of components included in the each of the plurality of virtual objects with a second collider having a pre-determined second shape and check whether a second collision is detected between a plurality of second boundaries of the plurality of second colliders, if a first collision is detected during the performance of the first step;
performing a third step based on a third level-of-detail to use a plurality of mesh colliders to cover the each of the plurality of components and check whether a third collision is detected between a plurality of third boundaries of the plurality of mesh colliders, if a second collision is detected during the performance of the second step;
randomly resampling the combination of robot configurations, if a third collision is detected during the performance of the third step; and
repeatedly implementing the three level of detail based three-step collision check scheme until none of the first collision, the second collision, or the third collision is detected; and
based on the determined boundaries and the randomly resampled combination of robot configurations, performing a heuristic based pathfinding algorithm to compute a collision-free path for the robot and the end effector equipped thereon to move to the target object accordingly.
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