公开(公告)号：US20150266182A1

公开(公告)日：2015-09-24

申请号：US14435080

申请日：2012-10-11

Applicant: ABB TECHNOLOGY LTD

Inventor： Morten Strandberg

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/1676 ,  G05B2219/40224 ,  G05B2219/40476 ,  G05B2219/50112

Abstract: A method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position when the robot has been stopped during operation due to an error. The apparatus includes a receiving part adapted to receive a request for a recovery path and information on the stop position of the robot. A path generating part is adapted to generate a collision free recovery path for the robot upon receiving the request, based on the predefined restart position and the stop position of the robot using a path planning algorithm that generates robot positions connected by collision free path segments. A programming part is adapted to generate the return program based on the generated return path.

Abstract translation: 一种方法和装置，用于当机器人由于错误而在操作期间停止时，自动产生用于将机器人从停止位置返回到预定重启位置的无碰撞返回程序。 该装置包括适于接收对恢复路径的请求的接收部分和关于机器人的停止位置的信息。 路径生成部适于基于使用生成通过无碰撞路径段连接的机器人位置的路径规划算法，基于所述机器人的预定义重新启动位置和停止位置，在接收到所述请求时，生成所述机器人的无碰撞恢复路径。 编程部分适于基于生成的返回路径生成返回程序。