ALEXANDRIA, Va., June 18 -- United States Patent no. 12,325,135, issued on June 10, was assigned to FANUC Corp. (Yamanashi, Japan).
"Point set interference check method and system" was invented by Hsien-Chung Lin (Fremont, Calif.), Yongxiang Fan (Union City, Calif.) and Tetsuaki Kato (Fremont, Calif.).
According to the abstract* released by the U.S. Patent & Trademark Office: "A robot interference checking motion planning technique using point sets. The technique uses CAD models of robot arms and obstacles and converts the CAD models to 3D point sets. The 3D point set coordinates are updated at each time step based on robot and obstacle motion. The 3D points are then converted to 3D grid space indices indicating space occupied by any poin...