Path planning apparatus of robot and method and computer-readable medium thereof
US8818555B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 21, 2010 |
| Grant date | Aug 26, 2014 |
| Priority date | — |
| Expiry date | Dec 8, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40517
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An apparatus, method and computer-readable medium planning a path of a robot by planning an optimal path while satisfying a dynamic constraint. In a process of searching for a motion path from a start point to a goal point while extending a tree from a start point of a configuration space to generate a path, along which a manipulator of the robot is moved in order to perform a task, an optimal path is generated responsive to the dynamic constraint of the manipulator of the robot to generate stable motion satisfying momentum and Zero Moment Position (ZMP) constraint. Accordingly, path planning performance is improved and a path satisfying a kinematic constraint and a dynamic constraint is rapidly obtained.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.