Trajectory generation system

US6317651A · kind A · utility

Assignee

• KUKA Development Laboratories, Inc. · US

Inventors

• Michael Gerstenberger · Lake Orion, US
• David M. Martin · Lansdale, US
• Khalid Mirza · Rochester Hills, US
• El-Houssaine Waled · Windsor, CA

Key dates

• Filing date: Mar 26, 1999
• Grant date: Nov 13, 2001
• Expiry date: Mar 26, 2019

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/49384
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A trajectory generation system is provided for operating a robot in response to a motion command. The robot is a multi-jointed manipulator with an end-effector that traverses a trajectory. A Cartesian trajectory generator converts the motion command into a requested Cartesian positions vector and a requested Cartesian velocities vector. A Jacobian matrix of the manipulator defines the relationship between the manipulator joint velocities vector and the manipulator Cartesian velocities vector. A requested joint velocities vector is computed from the requested Cartesian velocities vector by way of the inverse of the Jacobian matrix. The requested joint velocities vector defines a planned state vector for the manipulator.