Method and apparatus for automatic and efficient location generation for cooperative motion

摘要

Methods for automatic and efficient location generation for cooperative motion. A method includes receiving a cooperative operation comprising a master operation and the slave operation, simulating the slave operation to obtain a slave duration between consecutive slave locations and a trajectory time to perform the slave operation, populating a plurality of potential locations along the master trajectory, generating a plurality of candidate operations in a population, for each of the plurality of candidate operations in the population, simulating a candidate operation with the slave operation to calculate an efficiency factor to perform the candidate operation and removing the candidate operation from the population when the efficiency factor is not better compared to other candidate operations in the population and returning the candidate operation remaining in the population.

主权项

1. A method for automatic and efficient location generation for cooperative motion, the method performed by a data processing system and comprising:
receiving a cooperative operation comprising a master operation performed by a master robot and a slave operation performed by a slave robot, wherein the master operation comprises a master trajectory, a start location and an end location, and wherein the slave operation comprises a slave trajectory and a plurality of slave locations; simulating the slave operation to obtain a slave duration between consecutive slave locations and a trajectory time to perform the slave operation; populating a plurality of potential locations along the master trajectory; generating a plurality of candidate operations in a population, wherein each of the plurality of candidate operations comprises a number of candidate locations at the potential locations on the master trajectory equal to the difference between a number of locations in the master operation and the plurality of slave locations; for each of the plurality of candidate operations in the population: simulating a candidate operation with the slave operation to calculate an efficiency factor to perform the candidate operation; removing the candidate operation from the population when the efficiency factor is not better as compared to other candidate operations in the population; and operating the master robot and the slave robot using the candidate operation remaining in the population.