US 12,594,670 B1Granted

Generating a sequence of pose configurations for a robotic manipulator based on force and velocity ellipsoids

AssigneeAmazon Technologies, Inc.

InventorsYinan Pei, Yuri Anatoly Ivanov

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Abstract

Techniques for generating pose sequences for a robotic manipulator to perform a task based on velocity ellipsoids and force ellipsoids are described herein. For example, a computer system can generate candidate pose configurations of a robotic manipulator. Each candidate pose configuration can include a first end of the robotic manipulator being positioned along a trajectory. The computer system can determine a velocity ellipsoid and a force ellipsoid for each candidate pose configuration. The computer system can generate a sequence of pose configurations for the robotic manipulator to perform a task along the trajectory by minimizing a cost function subject to one or more constraints based at least in part on (i) the candidate pose configurations, (ii) a first weight for the velocity ellipsoid, and (iii) a second weight for the force ellipsoid.

Claims20

Dependent claims

A computer system, comprising:

a processing device;
and
a non-transitory memory configured to store instructions that are executable by the processing device for causing the processing device to at least:
generate a trajectory of an end effector of a robotic arm based on a set of waypoints, wherein the trajectory is usable by the robotic arm to perform a task involving moving an object grasped by the end effector from an initial location to a destination location;
generate candidate pose configurations of the robotic arm by determining, for each waypoint of the trajectory of the end effector, a plurality of pose configurations that include the end effector being positioned at the waypoint, wherein a pose configuration of the candidate pose configurations comprises one or more joint positions and one or more joint angles of the robotic arm;
determine a velocity term of a cost function based on a velocity ellipsoid for each of the candidate pose configurations;
determine a force term of the cost function based on a force ellipsoid for each of the candidate pose configurations;
determine a first weight for the velocity term and a second weight for the force term;
generate a sequence of pose configurations for the robotic arm to perform the task along the trajectory by minimizing a cost function subject to one more constraints based on (i) the candidate pose configurations, (ii) the first weight and the velocity term, and (iii) the second weight and the force term;
generate a motion plan for the robotic arm based at least in part on the sequence of pose configurations;
and
cause the robotic arm to implement the motion plan to execute the task.

9 more elements

One or more non-transitory computer-readable media comprising computer-executable instructions that, when executed by one or more processing devices of a computer system, cause the computer system to perform operations comprising:

generating candidate pose configurations of a robotic manipulator, each of the candidate pose configurations including a first end of the robotic manipulator being positioned along a trajectory;
determining a velocity ellipsoid and a force ellipsoid for each of the candidate pose configurations;
generating a sequence of pose configurations for the robotic manipulator to perform a task along the trajectory by minimizing a cost function subject to one or more constraints based at least in part on (i) the candidate pose configurations, (ii) a first weight for the velocity ellipsoid, and (iii) a second weight for the force ellipsoid;
and
causing the robotic manipulator to perform the task by executing the trajectory and the sequence of pose configurations.

2 more elements

Dependencies are inferred from the claim text.