Trajectory planning for path-based applications
US11325256B2 · kind B2 · utility
1Cited by
11References
18Claims
0Family size
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Key dates
| Filing date | May 4, 2020 |
| Grant date | May 10, 2022 |
| Priority date | — |
| Expiry date | Jul 18, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40517
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.