	US 12,109,704 B2
	Simulation signature keys for robotic simulations
Moshe Hazan, Elad (IL)
Assigned to Siemens Industry Software Ltd., Tel Aviv (IL)
Appl. No. 17/043,056
Filed by Siemens Industry Software Ltd., Tel Aviv (IL)
PCT Filed Apr. 15, 2018, PCT No. PCT/IL2018/050422 § 371(c)(1), (2) Date Sep. 29, 2020, PCT Pub. No. WO2019/202578, PCT Pub. Date Oct. 24, 2019.
Prior Publication US 2021/0016442 A1, Jan. 21, 2021
Int. Cl. B25J 9/16 (2006.01); G06F 30/20 (2020.01)

CPC B25J 9/1664 (2013.01) [B25J 9/1605 (2013.01); G06F 30/20 (2020.01)]

16 Claims

1. A method comprising:

accessing robotic path data for a robot, the robotic path data comprising target locations and corresponding motion parameters for the robot;

partitioning the robotic path data into simulation events according to event partitioning criteria such that each simulation event includes one or multiple target locations and corresponding motion parameters; and

for a given simulation event:

generating a simulation signature key for the given simulation event using the one or more target locations and corresponding motion parameters for the given simulation event;

simulating the robot according to the given simulation event to output motion planning data for the given simulation event;

obtaining the motion planning data for the given simulation event output through the simulation of the robot according to the given simulation event; and

associating the simulation signature key for the given simulation event with the motion planning data obtained for the given simulation event, including by inserting an entry into a motion planning cache that pairs the simulation signature key for the given simulation event with the motion planning data obtained for the given simulation event, and

after simulating the robot according to the given simulation event and inserting the entry into the motion planning cache:

accessing additional robotic path data for the robot different from the robotic path data for the robot;

partitioning, according to the event partitioning criteria, the additional robotic path data into simulation events that include an additional simulation event;

generating a simulation signature key for the additional simulation event of the additional robotic path data;

determining that the simulation signature key generated for the additional simulation event matches the simulation signature key generated for the given simulation event of the robotic path data; and

accessing obtained motion planning data for the additional simulation event from the motion planning cache without simulating the robot according to the additional simulation event for the additional robotic path data for the robot different from the robotic path data for the robot.