Robotic system with dynamic motion adjustment mechanism and methods of operating same

A robotic system comprising:

• a communication device configured to:
• receive a planned trajectory from a motion planner circuit, wherein the planned trajectory is for implementing a task to transfer a target object from a start location to a task location, and
• communicate commands, settings, and/or feedback data with a robot for implementing the planned trajectory;
• and
• at least one processor coupled to the communication device, the at least one processor for:
• identifying a set of planned waypoints along the planned trajectory, wherein each waypoint in the set of planned waypoints represents an incrementally-targeted location on the planned trajectory for placing the target object or a representative portion of a robot according to a processing period;
• initiating implementation of the task according to the planned trajectory based on an initial set of commands and/or settings communicated to the robot;
• iteratively implementing the task for transferring the target object or the representative portion of the robot to a subsequent planned waypoint on the planned trajectory;
• monitoring an input/output (I/O) state during iterative implementation of the planned trajectory, wherein the I/O state represents a capacity to complete implementation of the task and manipulating the target object;
• based on the I/O state, dynamically deriving a set of updated waypoints for representing, according to the processing period, a changed set of locations traversed by the robot caused by a change in speed, the set of updated waypoints configured to replace the set of planned waypoints, wherein the set of updated waypoints and the set of planned waypoints correspond to different locations on the same planned trajectory;
• based on the I/O state, implementing an adjustment to the task for transferring the target object or the representative portion of the robot according to the set of updated waypoints instead of following the set of planned waypoints, wherein the adjustment to the task corresponds to a subsequent set of commands and/or settings communicated to the robot.

A tangible, non-transient computer-readable medium having processor instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:

• receiving a planned trajectory for manipulating a target object;
• identifying a set of planned waypoints along the planned trajectory, wherein each planned waypoint represents an incrementally-targeted location on the planned trajectory for placing the target object or a representative portion of a robot according to a processing period;
• initiating implementation of a task according to the planned trajectory by communicating a set of commands or settings for operating the robot to have the target object or the representative portion of the robot to follow the planned trajectory;
• iteratively implementing the task for transferring the target object or the representative portion of the robot to a subsequent planned waypoint on the planned trajectory;
• monitoring an input/output (I/O) state during iterative implementation of the task, wherein the I/O state represents a capacity to complete the task implementation and manipulate the target object;
• based on the I/O state, dynamically deriving a set of updated waypoints for representing, according to the processing period, a changed set of locations traversed by the robot caused by a change in speed, the set of updated waypoints configured to replace the set of planned waypoints, wherein the set of updated waypoints and the set of planned waypoints correspond to different locations on the same planned trajectory;
• and
• based on the I/O state, implementing an adjustment to the task for transferring the target object or the representative portion of the robot according to the set of updated waypoints instead of following the set of planned waypoints.