Back to results
US 10,456,913 B2Granted
Method and apparatus for controlling a robot movement of a robot on the basis of a second trajectory
AssigneeSiemens Aktiengesellschaft
InventorHermann Georg Mayer
Life of this patent
Estimating the term…
Abstract
A method for controlling a robot movement of a robot on the basis of a second trajectory is provided, wherein the second trajectory is calculated on the basis of a viscosity volume model.
Claims15
A method for controlling a robot movement of a robot on a basis of a second trajectory, the method comprising:
- a) calculating a viscosity volume model for modeling a first working environment of the robot, wherein the viscosity volume model comprises first spatial regions with first different viscosities, the first spatial regions are determined on a basis of first characteristics of the robot and of the first working environment;
- b) defining a first trajectory for the robot;
- c) exciting a simulated liquid in the viscosity volume model to move along the first trajectory, wherein the excited liquid has a flow;
- d) detecting a liquid element in the excited simulated liquid at a start of the first trajectory;
- e) detecting a covered path of the liquid element in the excited simulated liquid in the viscosity volume model, wherein a flow direction of the excited simulated liquid through the first spatial regions is determined;
- f) storing the covered path as the second trajectory;
- and
- g) controlling the robot movement on the basis of the second trajectory.
5 more elements
An apparatus for controlling a robot movement of a robot on a basis of a second trajectory, comprising:
- a first calculation module for calculating a viscosity volume model for modeling a first working environment of the robot, wherein the viscosity volume model comprises first spatial regions with first different viscosities, the first spatial regions being determined on a basis of first characteristics of the robot and of the first working environment;
- a first definition module for defining a first trajectory for the robot;
- a first excitation module for exciting a simulated liquid in the viscosity volume model for moving along the first trajectory, wherein the excited simulated liquid has a flow;
- a first detection module for detecting a liquid element in the excited simulated liquid at a start of the first trajectory;
- a second detection module for detecting a covered path of the liquid element in the excited simulated liquid in the viscosity volume model, wherein a flow direction of the excited simulated liquid through the first spatial regions is determined;
- a first memory module for storing the covered path as a second trajectory;
- and
- a first control module for controlling the robot movement on the basis of the second trajectory.
5 more elements
Dependencies are inferred from the claim text.