US 10,065,311 B1Granted

Singularity handling for robot jogging

AssigneeX Development LLC

InventorThomas Buschmann

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Abstract

Methods, apparatus, systems, and computer-readable media are provided for avoiding and/or operating robots through singularities. In various implementations, a Cartesian input velocity to be attained by a robot end effector may be received as user input. An attainable velocity of the end effector may be determined that excludes at least one directional component deemed unattainable by the end effector based on physical attribute(s) of the robot. Joint velocities to be attained by joints of the robot in joint space to move the end effector pursuant to the attainable velocity in configuration space may be calculated and scaled to account for a joint velocity limit associated with at least one joint. Actuator trajectories may be calculated for the joints of the robot based at least in part on the scaled joint velocities. The joints of the robot may then be operated in accordance with the calculated joint trajectories.

Claims20

Dependent claims

A computer-implemented method, comprising:

receiving, by one or more processors, an input velocity to be attained by an end effector of a robot in configuration space of the end effector;
identifying as unattainable by the end effector, by one or more of the processors and based on one or more physical attributes of the robot, at least a first translational or rotational velocity component of the input velocity;
identifying as attainable by the end effector, by one or more of the processors and based on one or more physical attributes of the robot, at least a second translational or rotational velocity component of the input velocity;
determining, by one or more of the processors, an attainable velocity of the end effector that excludes the at least first translational or rotational velocity and includes the at least second translational or rotational velocity;
calculating, by one or more of the processors, one or more joint velocities that will be attained by one or more joints of the robot in joint space to move the end effector pursuant to the attainable velocity in configuration space;
scaling, by one or more of the processors, the one or more joint velocities to account for a joint velocity limit associated with at least one of the one or more joints;
calculating, by one or more of the processors, one or more actuator trajectories for the one or more joints of the robot based at least in part on the scaled one or more joint velocities;
and
operating, by one or more of the processors, the one or more joints of the robot in accordance with the calculated actuator trajectories.

6 more elements

At least one non-transitory computer-readable medium comprising instructions that, in response to execution of the instructions by one or more processors, cause the one or more processors to perform the following operations:

receiving an input velocity to be attained by an end effector of a robot in configuration space of the end effector;
identifying as unattainable by the end effector, based on one or more physical attributes of the robot, at least a first translational or rotational velocity component of the input velocity;
identifying as attainable by the end effector, based on one or more physical attributes of the robot, at least a second translational or rotational velocity component of the input velocity;
determining an attainable velocity of the end effector that excludes the at least first translational or rotational velocity and includes the at least second translational or rotational velocity;
calculating one or more joint velocities that will be attained by one or more joints of the robot in joint space to move the end effector pursuant to the attainable velocity in configuration space;
scaling the one or more joint velocities to account for a joint velocity limit associated with at least one of the one or more joints;
calculating one or more actuator trajectories for the one or more joints of the robot based at least in part on the scaled one or more joint velocities;
and
operating the one or more joints of the robot in accordance with the calculated actuator trajectories.

6 more elements

Dependencies are inferred from the claim text.