US 12,325,135 B2
Point set interference check method and system
Hsien-Chung Lin, Fremont, CA (US); Yongxiang Fan, Union City, CA (US); and Tetsuaki Kato, Fremont, CA (US)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Dec. 14, 2023, as Appl. No. 18/540,175.
Application 18/540,175 is a continuation of application No. 17/457,777, filed on Dec. 6, 2021, granted, now 11,878,424.
Prior Publication US 2024/0123618 A1, Apr. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); G06F 30/10 (2020.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1605 (2013.01); G06F 30/10 (2020.01)] 25 Claims
OG exemplary drawing
 
1. A method for robot-obstacle interference checking, said method comprising:
creating, on a computer having a processor and memory, three dimensional (3D) points defining space occupied by a robot and one or more other objects;
updating coordinates of the 3D points defining space occupied by the robot based on robot joint positions;
converting the 3D points defining space occupied by the robot and the one or more other objects to one dimensional (1D) indices defining workspace grid cell occupancy;
storing the 1D indices as a set for the robot and the one or more other objects; and
performing an interference check by computing an intersection, on the computer, of the set of 1D indices for the robot and the set of 1D indices for the one or more other objects.