Singularity handling for robot jogging
US10065311B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Jun 8, 2016 |
| Grant date | Sep 4, 2018 |
| Priority date | — |
| Expiry date | Nov 12, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40354
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Methods, apparatus, systems, and computer-readable media are provided for avoiding and/or operating robots through singularities. In various implementations, a Cartesian input velocity to be attained by a robot end effector may be received as user input. An attainable velocity of the end effector may be determined that excludes at least one directional component deemed unattainable by the end effector based on physical attribute(s) of the robot. Joint velocities to be attained by joints of the robot in joint space to move the end effector pursuant to the attainable velocity in configuration space may be calculated and scaled to account for a joint velocity limit associated with at least one joint. Actuator trajectories may be calculated for the joints of the robot based at least in part on the scaled joint velocities. The joints of the robot may then be operated in accordance with the calculated joint trajectories.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.