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1. WO2021041907 - DYNAMIC PATH PLANNING FROM A FAULT CONDITION

Publication Number WO/2021/041907
Publication Date 04.03.2021
International Application No. PCT/US2020/048540
International Filing Date 28.08.2020
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/163
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
163learning, adaptive, model based, rule based expert control
B25J 9/1653
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1653parameters identification, estimation, stiffness, accuracy, error analysis
B25J 9/1661
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1661characterised by task planning, object-oriented languages
B25J 9/1666
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
1666Avoiding collision or forbidden zones
B25J 9/1674
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1674characterised by safety, monitoring, diagnostic
B25J 9/1676
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1674characterised by safety, monitoring, diagnostic
1676Avoiding collision or forbidden zones
Applicants
  • X DEVELOPMENT LLC [US]/[US]
Inventors
  • GAYDAROV, Stoyan
Agents
  • SHEPHERD, Michael P.
  • JORDAN, David E. A.
Priority Data
62/894,61630.08.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) DYNAMIC PATH PLANNING FROM A FAULT CONDITION
(FR) PLANIFICATION DE TRAJET DYNAMIQUE À PARTIR D'UN ÉTAT DE PANNE
Abstract
(EN)
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot fault recovery using a process definition graph. One of the methods includes receiving an indication that a robot experienced a fault while performing a schedule of commands generated from an original process definition graph, wherein the original process definition graph comprises a plurality of task nodes that represent a plurality of respective tasks to be performed by one or more robots. A recovery process definition graph is generated, wherein the recovery process definition graph includes a motion node that represents a motion action for the robot to take from a current position to a recovery position. On onsite execution engine executes the recovery process definition graph, thereby causing the robot to perform the motion action to move to the recovery position.
(FR)
La présente invention concerne des procédés, des systèmes et un appareil, y compris des programmes informatiques codés sur des supports d’informations, destinés à effectuer une reprise après panne de robot à l’aide d’un graphique de définition de processus. L'un des procédés consiste à recevoir une indication selon laquelle un robot a subi une panne tout en effectuant un programme de commandes générées à partir d'un graphique de définition de processus d’origine, le graphique de définition de processus d’origine comprenant une pluralité de nœuds de tâche qui représentent une pluralité de tâches respectives à exécuter par un ou plusieurs robots. Un graphique de définition de processus de reprise est généré, le graphique de définition de processus de reprise comprenant un nœud de mouvement qui représente une action de mouvement que le robot doit faire d'une position actuelle à une position de reprise. Un moteur d'exécution sur site exécute le graphique de définition de processus de reprise, amenant ainsi le robot à effectuer l'action de mouvement afin qu’il se déplace vers la position de reprise.
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