Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (n>5)
US8972056B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 7, 2011 |
| Grant date | Mar 3, 2015 |
| Priority date | — |
| Expiry date | Sep 28, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40381
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths qRobot (t) using IK (t) and qTool (t) as set of possible solutions at time t, wherein qRobot (t) defines positions of all the joints in the robot as function of time, qTool (t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and qTool (t); and determining, from the geometric data and X(t), how the joint path qRobot (t) should be chosen so as to comply with one or more optimisation criteria.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.