System and method for robot trajectory generation with continuous accelerations

US8600554B2 · kind B2 · utility

Assignee

• Institute of Automation, Chinese Academy of Sciences · CN

Inventors

• Fengshui Jing · Beijing, CN
• Min Tan · 红钢城街道, CN
• En Li · Lo Wu, CN
• Zize Liang · Beijing, CN
• Zengguang Hou · Beijing, CN
• Degang Yang · Beijing, CN
• Kailiang Zhang · Beijing, CN
• Yanhui Qiang · Beijing, CN

Key dates

• Filing date: Jun 4, 2010
• Grant date: Dec 3, 2013
• Expiry date: Dec 4, 2030

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/43062
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively.