Trajectory planning for path-based applications
AssigneeIntrinsic Innovation LLC
InventorAndre Gaschler
Life of this patent
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Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.
Claims18
A method comprising:
- generating an initial Cartesian path representing how an end effector of a robot should follow a goal path on a workpiece;
- performing a simulation of the robot traversing the initial Cartesian path to generate an initial joint-space trajectory of the robot, wherein the simulation specifies a velocity at which the end effector traverses the initial Cartesian path;
- obtaining, from the initial joint-space trajectory, one or more dynamic properties of the robot that result from while the end effector of the robot traversing the initial Cartesian path at the specified velocity;
- generating an adjusted velocity profile over the initial Cartesian path based on how much the obtained one or more dynamic properties of the robot exceeded one or more corresponding dynamic limits of the robot;
- and
- generating a final Cartesian trajectory to be followed by the end effector of the robot that causes the end effector of the robot to follow, the initial Cartesian path according to the adjusted velocity profile.
A system comprising:
- a memory;
- and
- at least one processor configured to access the memory and configured to perform operations comprising:
- generating an initial Cartesian path representing how an end effector of a robot should follow a goal path on a workpiece;
- performing a simulation of the robot traversing the initial Cartesian path to generate an initial joint-space trajectory of the robot, wherein the simulation specifies a velocity at which the end effector traverses the initial Cartesian path;
- obtaining, from the initial joint-space trajectory, one or more dynamic properties of the robot that result from the end effector of the robot traversing the initial Cartesian path at the specified velocity;
- generating an adjusted velocity profile over the initial Cartesian path based on how much the obtained one or more dynamic properties of the robot exceeded one or more corresponding dynamic limits of the robot;
- and
- generating a final Cartesian trajectory to be followed by the end effector of the robot that causes the end effector of the robot to follow the initial Cartesian path according to the adjusted velocity profile.
A non-transitory computer readable medium having stored thereon software instructions that, when executed by at least one processor, cause the processor to perform operations including:
- generating an initial Cartesian path representing how an end effector of a robot should follow a goal path on a workpiece;
- performing a simulation of the robot traversing the initial Cartesian path to generate an initial joint-space trajectory of the robot, wherein the simulation specifies a velocity at which the end effector traverses the initial Cartesian path;
- obtaining, from the initial joint-space trajectory, one or more dynamic properties of the robot that result from the end effector of the robot traversing the initial Cartesian path at the specified velocity;
- generating an adjusted velocity profile over the initial Cartesian path based on how much the obtained one or more dynamic properties of the robot exceeded one or more corresponding dynamic limits of the robot;
- and
- generating a final Cartesian trajectory to be followed by the end effector of the robot that causes the end effector of the robot to follow the initial Cartesian path according to the adjusted velocity profile.
Dependencies are inferred from the claim text.