Generating robot trajectories using a real time trajectory generator and a path optimizer

A robotic system comprising:

• a plurality of actuators;
• logic providing control commands to the actuators to control the actuators;
• a real time trajectory generator configured to generate a first segment of a trajectory toward a first waypoint of a plurality of sequential waypoints, the first segment indicating one or more motion states of the actuators at each of a plurality of times;
• wherein the real time trajectory generator generates at least a portion of the first segment within a control cycle and wherein the first segment is generated based on the first waypoint and based on one or more kinematic motion constraints;
• wherein the logic provides control commands to the actuators to operate the actuators based on the first segment until the target time;
• a trajectory optimizer configured to generate, during the operating of the actuators of the robot based on the first segment, a second segment of the trajectory toward a last waypoint of the waypoints, the second segment indicating the motion states of the actuators of the robot at each of a plurality of second segment times following the target time;
• wherein the trajectory optimizer generates the second segment based on one or more of the waypoints, based on one or more optimization parameters, and based on anticipated motion states, the anticipated motion states being the motion states of the first segment for a target time of the plurality of times;
• and
• wherein the logic provides control commands to the actuators to operate the actuators based on the second segment following the target time.

At least one non-transitory computer readable medium comprising instructions that, in response to execution of the instructions, cause the following operations to be performed:

• identifying a plurality of sequential waypoints;
• generating, by a real time trajectory generator, a first segment of a trajectory toward a first waypoint of the waypoints, the first segment indicating one or more motion states of actuators of the robot at each of a plurality of times, wherein at least a portion of the first segment is generated by the real time trajectory generator within a control cycle of the robot and wherein the first segment is generated based on the first waypoint and based on one or more kinematic motion constraints of the robot;
• providing, to a trajectory optimizer, anticipated motion states of the motion states of the actuators, the anticipated motion states being the motion states of the first segment for a target time of the plurality of times;
• operating the actuators of the robot based on the first segment until the target time;
• generating, by the trajectory optimizer and during the operating of the actuators of the robot based on the first segment, a second segment of the trajectory toward a last waypoint of the waypoints, the second segment indicating the motion states of the actuators of the robot at each of a plurality of second segment times following the target time, the second segment generated based on one or more of the waypoints, based on one or more optimization parameters, and based on the anticipated motion states provided to the trajectory optimizer;
• and
• operating the actuators of the robot based on the second segment following the target time.