Abstract
N]PROBLEM TO BE SOLVED: To obtain an optimal stop position of a mobile robot in a work where a plurality of work positions exist, by calculation with a cost as a criterion for evaluation. ?
SOLUTION: The stop position determination method of a robot comprises the steps of: defining a movable work space of a robot arm as a work determination region on a plurality of works and arranging lattice points in the range of each work determination region; setting work feasible areas corresponding to the plurality of works by determining whether or not the work by the mobile robot can be accomplished in each lattice point; combining a plurality of work feasible areas so as to obtain optimal overlapped work feasible areas; and obtaining a work point which minimizes a cost in the overlapped areas of the work feasible areas thus combined and determining a minimized stopped position. According to this stop position determination method, the stop position of the mobile robot can be optimized. ?
Published as JP2005088164A;JP4066922B2
SOLUTION: The stop position determination method of a robot comprises the steps of: defining a movable work space of a robot arm as a work determination region on a plurality of works and arranging lattice points in the range of each work determination region; setting work feasible areas corresponding to the plurality of works by determining whether or not the work by the mobile robot can be accomplished in each lattice point; combining a plurality of work feasible areas so as to obtain optimal overlapped work feasible areas; and obtaining a work point which minimizes a cost in the overlapped areas of the work feasible areas thus combined and determining a minimized stopped position. According to this stop position determination method, the stop position of the mobile robot can be optimized. ?
Published as JP2005088164A;JP4066922B2
| Translated title of the contribution | Stop Position Determination method of Robot and Stop Position Determination Device of Ropot |
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| Original language | Japanese |
| Patent number | JP 4066922 B2 |
| IPC | B25J,G05D |
| Publication status | Published - 26 Mar 2008 |
| MoE publication type | H1 Granted patent |