Method and control system for controlling movement trajectories of a robot
AssigneeABB Schweiz AG
InventorsStefan Westberg, Giacomo Spampinato
Life of this patent
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Abstract
A method for controlling movement trajectories of a robot, the method including predicting, in an offline mode, values of at least one parameter related to the execution of alternative movement trajectories between a first position of the robot and a second position of the robot; selecting, in the offline mode, a movement trajectory based on the predicted values of the at least one parameter; and executing the selected movement trajectory by the robot. A control system for controlling movement trajectories of a robot is also provided.
Claims14
A method for controlling movement trajectories of a robot,
- the method comprising:
- predicting, in an offline mode, values of at least one parameter related to the execution of alternative movement trajectories between a first position of the robot and a second position of the robot;
- selecting, in the offline mode, a movement trajectory based on the predicted values of the at least one parameter;
- and
- executing the selected movement trajectory by the robot;
- wherein the method further comprises:
- generating the alternative movement trajectories prior to predicting the values of the at least one parameter related to the execution of the alternative movement trajectories;
- wherein the alternative movement trajectories are defined by different constants of a parametric curve;
- and
- wherein the alternative movement trajectories are offset less than 50% of a distance between the first position and the second positon, from a straight line between the first position and the second position.
A control system for controlling movement trajectories of a robot, the control system comprising a data processing device and a memory having a computer program stored thereon, the computer program including program code which, when executed by the data processing device, causes the data processing device to perform the steps of:
- predicting, in an offline mode, values of at least one parameter related to the execution of alternative movement trajectories between a first position of the robot and a second position of the robot;
- selecting, in the offline mode, a movement trajectory based on the predicted values of the at least one parameter;
- controlling the robot to execute the selected movement trajectory;
- and
- generating the alternative movement trajectories prior to predicting the values of the at least one parameter related to the execution of the alternative movement trajectories;
- wherein the alternative movement trajectories are defined by different constants of a parametric curve;
- wherein the alternative movement trajectories are offset less than 50% of a distance between the first position and the second positon, from a straight line between the first position and the second position.
Dependencies are inferred from the claim text.