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.
Claims22
A trajectory generating method for generating a trajectory on which a robot arm is operated between a start teaching point and a target teaching point, the trajectory generating method comprising:
- a first generating process of generating a plurality of trajectories between the start teaching point and the target teaching point;
- an evaluation process of evaluating a motion of the robot arm on each trajectory generated in the first generating process 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.
A trajectory generating apparatus for generating a trajectory on which a robot arm is operated between a start teaching point and a target teaching point, the trajectory generating apparatus comprising a controller executing:
- a first generating process of generating a plurality of trajectories between the start teaching point and the target teaching point;
- an evaluation process of evaluating a motion of the robot arm on each trajectory generated in the first generating process to calculate an evaluation value;
- a selection process of selecting one of the plurality of trajectories based on calculated evaluation values;
- and
- an update process of updating a 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 of the changed trajectories and of selecting a trajectory based on calculated evaluation values.
Dependencies are inferred from the claim text.