Trajectory generating method, and trajectory generating apparatus
AssigneeCanon Kabushiki Kaisha
InventorGen Kimura
Life of this patent
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Abstract
A trajectory generating method includes a first generating process of generating a plurality of trajectories between a start teaching point and a target teaching point, an evaluation process of evaluating a motion of the robot arm on each trajectory to calculate an evaluation value of each trajectory, a selection process of selecting one of the plurality of trajectories based on calculated evaluation values, and an update process of updating the trajectory by repeating the processes of generating a plurality of new trajectories by changing a selected trajectory in the selection process, of calculating an evaluation value of a motion of the robot arm on each changed trajectory and of selecting a trajectory based on calculated evaluation values.
Claims33
An information processing method configured to acquire a first trajectory to move a first robot between a first position and a second position, the information processing method comprising:
- acquiring plurality of first candidate trajectories, by using one or more processors and a non-transitory memory and changing first time information of at least one position of the first position, the second position, and a first intermediate position through which the first robot is moved between the first position and the second position;
- evaluating the plurality of first candidate trajectories and selecting one first candidate trajectory based on a result of the evaluating, by using the one or more processors and the non-transitory memory;
- acquiring the first trajectory based on the selected first candidate trajectory, by using the one or more processors and the non-transitory memory;
- and
- outputting a trajectory data for moving the first robot on the first trajectory, by using the one or more processors and the non-transitory memory.
An information processing apparatus for acquiring a first trajectory to move a first robot between a first position and a second position, the information processing apparatus comprising:
- one or more processors;
- and
- a non-transitory memory storing a program that, when executed by the one or more processors, executes:
- acquiring plurality of first candidate trajectories by changing first time information of at least one position of the first position, the second position, and a first intermediate position through which the first robot is moved between the first position and the second position;
- evaluating the plurality of first candidate trajectories;
- selecting one first candidate trajectory based on a result of the evaluating;
- acquiring the first trajectory based on the selected first candidate trajectory;
- and
- outputting a trajectory data for moving the first robot on the first trajectory.
Dependencies are inferred from the claim text.