REAL TIME OBSTACLE AVOIDANCE FOR COMPUTER CONTROLLED ROBOTS
Original Publication Date: 1991-Apr-01
Included in the Prior Art Database: 2001-Nov-29
The use of robotic stations in product assembly is becoming increasingly popular. In normal operation a robot will move safely from point to point in its workspace as it executes operations such as picking parts from a feeder and placing them on a circuit board. The robot will sequentially move through a series of carefully taught points to achieve this and therefore avoids collisions with stationary tooling. This sequence can be interrupted for several reasons including a mistaught robot point as well as starting a normal sequence with the robot positioned in a dangerous location.