US 11,813,756 B2
Disassembly based assembly planning
Yu Zhao, Union City, CA (US); and Tetsuaki Kato, Fremont, CA (US)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Apr. 9, 2021, as Appl. No. 17/226,179.
Claims priority of provisional application 63/010,724, filed on Apr. 16, 2020.
Prior Publication US 2021/0323154 A1, Oct. 21, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1687 (2013.01) 20 Claims
OG exemplary drawing
 
1. A method for planning a robotic component assembly motion, said method comprising:
providing geometric models of first and second components to be assembled, an initial configuration and a target configuration of the first component relative to the second component;
defining the target configuration as a first instance of a stored waypoint;
randomly selecting a proposed waypoint in a configuration space;
defining a set of local sample configurations around a stored waypoint closest to the proposed waypoint;
evaluating each of the local sample configurations to identify one which is collision-free and is closest to the proposed waypoint in the configuration space, and adding the identified local sample configuration as a new stored waypoint;
when a new stored waypoint is added at the initial configuration, reversing a sequence of the stored waypoints to provide the assembly motion;
defining a new set of local sample configurations when a local sample loop count quota has not been reached; and
randomly selecting a new proposed waypoint configuration.