METHOD AND DEVICE FOR COLLISION-FREE MOVEMENT PLANNING OF A MANIPULATOR

摘要

Method for collision-free movement planning of a first manipulator (14) from a starting point (26) to a target point (28). The method comprises the steps: repeated determination of a target path of the first manipulator (14) to a target point (28) with a global planner (34); continuously determining a movement of the first manipulator (14) with a local planner (36) based on the current target path of the global planner; and executing the movement by the first manipulator (14) parallel to the determination by the global and local planner (34, 36).