Robot motion data processing system using motion data reduction/restoration compatible to hardware limits
AssigneeKorea Institute of Science and Technology
InventorsDoik Kim, Jung Min Park, Sungon Lee, Jaeyoung Park, Seokmin Hong
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Abstract
A robot motion data processing system has a data extraction module for intermittently extracting restoration motion data from a successive input motion trajectory formed for controlling a motion of a robot, and a data restoration module for restoring an output motion trajectory approximate to the input motion trajectory by using restoration motion data extracted from the data extraction module. The output motion trajectory is restored to satisfy a condition that the robot operating according to the output motion trajectory does not exceed a hardware operation limit of the robot.
Claims13
A robot motion data processing apparatus, comprising:
- a data extractor configured to intermittently extract restoration motion data from an input motion trajectory of a robot;
- and
- a data restorer configured to generate an output motion trajectory corresponding to the input motion trajectory based on a hardware operation limit of the robot and the restoration motion data,
- wherein the output motion trajectory does not exceed the hardware operation limit of the robot,
- wherein the data restorer is further configured to:
- generate an estimated trajectory estimated based on a received first restoration motion data;
- and
- generate a tracking trajectory of a second restoration motion data based on the second restoration motion data and a current robot motion data indicated by an end point of the estimated trajectory to generate the output motion trajectory in real time, in response to the second restoration motion data being received,
- wherein the tracking trajectory is generated to track estimated motion data, and
- wherein the estimated motion data is an estimate of a motion of the robot after a time from a point when the second restoration motion data is received based on the second restoration motion data.
A robot motion data processing apparatus, comprising:
- a data extractor configured to intermittently extract restoration motion data from an input motion trajectory of a robot;
- and
- a data restorer configured to generate an output motion trajectory corresponding to the input motion trajectory based on the restoration motion data,
- wherein the data extractor is further configured to:
- extract an original motion data from the input motion trajectory at a sampling time, and to extract the restoration motion data through a reducing process in which a partial data is eliminated from the original motion data,
- compare the original motion data with previous data to determine data at which the zero-crossing velocity occurs as an anchor point, and
- transmit motion data corresponding to the anchor point to the data restorer as the restoration motion data.
Dependencies are inferred from the claim text.