Method for a collision-free path planning of an industrial robot

摘要

The method involves creating a three-dimensional model (13) in cylindrical coordinates of a working area of an industrial robot (1) based on three-dimensional computer-aided design model of the working area. A segment of an occupied area of the three-dimensional model is broken down into multiple hollow cylindrical or cylindrically-shaped secondary segments. A path (C) is determined for moving an object (11) on the industrial robot from a start point (A) to an end point (B).