Method to incorporate complex physical constraints in path-constrained trajectory planning for serial-link manipulator

A method of generating robot trajectories for a robot device that is performing a task on a surface of an object, comprising:

• capturing one or more images of the surface of the object on which the task is being performed;
• generating surface parameters and/or measurements for the surface of the object based at least in part on the one or more images of the surface;
• receiving one or more parameters to maximize or minimize robot objectives, the one or more parameters to maximize or minimize robot objectives including minimizing robot path length in performing the task, minimizing robot execution time for performing the task and/or minimizing robot energy consumption when performing the task;
• receiving one or more motion parameters for the robot to perform the task on the surface of the object and/or receiving one or more workspace parameters receiving a plurality of constraint parameters, the constraint parameters identifying which robot task constraints are involved in performing the task;
• generating an initial parametric representation of a trajectory for the robot in performing the task, the initial parameter representation of the trajectory including a number of control points and/or a number of spline segments in a path to be utilized in generating the trajectory;
• generating an initial trajectory based on the initial parametric representation of the trajectory, one or more workspace parameters, the one or more motion parameters, and the one or more parameters to maximize or minimize robot objectives;
• selecting a first set of constraint parameters to be applied during a first trajectory generation stage;
• and
• performing trajectory generation, during the first trajectory generation stage, by applying the selected first set of constraint parameters to create one or more first robot trajectories.