| 发明名称 | Robots, computer program products, and methods for trajectory plan optimization | ||
| 摘要 | Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator. | ||
| 申请公布号 | US8843235(B2) | 申请公布日期 | 2014.09.23 |
| 申请号 | US201213350179 | 申请日期 | 2012.01.13 |
| 申请人 | Toyota Motor Engineering & Manufacturing North America, Inc.;Carnegie Mellon University | 发明人 | Ota Yasuhiro;Kim Junggon;Kuffner James J. |
| 分类号 | B25J9/06 | 主分类号 | B25J9/06 |
| 代理机构 | Dinsmore & Shohl LLP | 代理人 | Dinsmore & Shohl LLP |
| 主权项 | 1. A method of controlling a robot comprising a processor, a first manipulator and a second manipulator, the method comprising: receiving a trajectory plan comprising a plurality of sequential motion segments, wherein each motion segment corresponds to a component of the first manipulator or a component of the second manipulator, and the trajectory plan is operable to be executed by the robot to sequentially control the first manipulator and the second manipulator over a time period; determining, automatically by the processor, a moveable motion segment within the trajectory plan; shifting, automatically by the processor, the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segments, thereby generating an optimized trajectory plan; and controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator. | ||
| 地址 | Erlanger KY US | ||