US 12,263,595 B2
Method and apparatus for determining an optimized movement sequence for a robot device
Philipp Sebastian Schmitt, Munich (DE); and Florian Wirnshofer, Munich (DE)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Appl. No. 16/968,636
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Feb. 4, 2019, PCT No. PCT/EP2019/052607
§ 371(c)(1), (2) Date Aug. 10, 2020,
PCT Pub. No. WO2019/162070, PCT Pub. Date Aug. 29, 2019.
Claims priority of application No. 18157895 (EP), filed on Feb. 21, 2018.
Prior Publication US 2021/0046648 A1, Feb. 18, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/163 (2013.01); B25J 9/1671 (2013.01); B25J 9/1687 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for determining an optimized movement sequence for a robot device for moving a first item such that the first item is brought to a target pose regardless of an uncertainty of a pose of the first item with reference to a second item and/or regardless of an uncertainty of a pose of the robot device, wherein the method comprises:
simulating movement sections of the robot device while taking into consideration the uncertainty of the pose of the first item and/or the uncertainty of the pose of the robot device; and
determining the optimized movement sequence of the robot device while taking into consideration the simulated movement sections and constraints that indicate a starting pose and the target pose of the first item, wherein
the robot device has a compliance that is used to partially compensate the robot device for the uncertainty of the pose of the first item and/or the uncertainty of the pose of the robot device; and wherein the movement sections are furthermore simulated while taking into consideration a predetermined compliance of the robot device.