Abstract: A technique for automatically finding a collision-free return-to-home path for a robot. The technique includes running a simulated virtual 3D environment which emulates the physical robot and workcell in real time, including the positions and poses of all robots, workpieces and obstacles in the workcell. Upon request by an operator, a return-to-home path search is executed based on the virtual 3D environment, where the path search calculates a solution which moves the robot from a current position to its home or recovery position while avoiding collisions with other robots, workpieces or objects in the workcell. In addition to collision avoidance, the path search considers other constraints such as prohibited zones in the workspace and robot joint positions. When the recovery path is computed, the solution program is sent back to the physical environment for execution by the physical robot.

Abstract: A technique for automatically finding a collision-free return-to-home path for a robot. The technique includes running a simulated virtual 3D environment which emulates the physical robot and workcell in real time, including the positions and poses of all robots, workpieces and obstacles in the workcell. Upon request by an operator, a return-to-home path search is executed based on the virtual 3D environment, where the path search calculates a solution which moves the robot from a current position to its home or recovery position while avoiding collisions with other robots, workpieces or objects in the workcell. In addition to collision avoidance, the path search considers other constraints such as prohibited zones in the workspace and robot joint positions. When the recovery path is computed, the solution program is sent back to the physical environment for execution by the physical robot.