CPC B25J 9/1687 (2013.01) | 20 Claims |
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.
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