Control node and method performed therein
AssigneeTelefonaktiebolaget LM Ericsson (publ)
InventorsSándor RÁCZ, Norbert REIDER
Life of this patent
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Abstract
A method performed by a control node for handling communication with a robot device. The control node determines a time limit for when a maximum tolerable deviation from a trajectory is reached, for at least two control command types. The at least two control command types include a joint-space command and a Cartesian-space command. The control node selects the control command type that reaches the time limit later, based on the determined time limit for the at least two control command types.
Claims23
A method performed by a control node for handling a control command for a robot device, the method comprising:
- determining a time limit for when a maximum tolerable deviation from a trajectory is reached, for at least two control command types, the at least two control command types comprising a joint-space command and a Cartesian-space command;
- selecting the control command type that reaches the time limit later, based on the determined time limit for the at least two control command types;
- and
- sending the selected control command type to the robot device.
(canceled)
A control node for handling for handling communication with a robot device, the control node being configured to:
- determine a time limit for when a maximum tolerable deviation from a trajectory is reached, for at least two control command types, the at least two control command types comprising a joint-space command and a Cartesian-space command;
- select the control command type that reaches the time limit later, based on the determined time limit for the at least two control command types;
- and
- send the selected control command type to the robot device.
(canceled)
(canceled)
A computer-readable storage medium, having stored thereon a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to perform a method for handling a control command for a robot device, the method comprising:
- determining a time limit for when a maximum tolerable deviation from a trajectory is reached, for at least two control command types, the at least two control command types comprising a joint-space command and a Cartesian-space command;
- selecting the control command type that reaches the time limit later, based on the determined time limit for the at least two control command types;
- and
- sending the selected control command type to the robot device.
Dependencies are inferred from the claim text.