公开(公告)号：US10894322B2

公开(公告)日：2021-01-19

申请号：US15982596

申请日：2018-05-17

Applicant: KUKA Hungária Korlátolt Felelõsségû Társaság

Inventor： István Komlósi

IPC: B25J9/16 ,  G05D1/02 ,  B25J5/00

Abstract: A method for motion planning for at least one robot includes providing a start configuration comprising at least one start position and a destination configuration comprising at least one destination position for the robot, providing a motion of at least one obstacle in the workspace of the robot, the obstacle motion defining a position of the obstacle that varies over time, and determining a motion of the robot from its start configuration to its destination configuration. The robot motion definies a position of the robot over a time period from a start time to a destination time. The robot motion is determined such that at each point in time between the start and destination times a distance between the robot and the obstacle does not fall below a predetermined threshold.