发明名称 |
Trajectory generation system |
摘要 |
A trajectory generation system is provided for operating a robot in response to a motion command. The robot is a multi-jointed manipulator with an end-effector that traverses a trajectory. A Cartesian trajectory generator converts the motion command into a requested Cartesian positions vector and a requested Cartesian velocities vector. A Jacobian matrix of the manipulator defines the relationship between the manipulator joint velocities vector and the manipulator Cartesian velocities vector. A requested joint velocities vector is computed from the requested Cartesian velocities vector by way of the inverse of the Jacobian matrix. The requested joint velocities vector defines a planned state vector for the manipulator.
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申请公布号 |
US6317651(B1) |
申请公布日期 |
2001.11.13 |
申请号 |
US19990276880 |
申请日期 |
1999.03.26 |
申请人 |
KUKA DEVELOPMENT LABORATORIES, INC. |
发明人 |
GERSTENBERGER MICHAEL D.;MARTIN DAVID M.;MIRZA KHALID;WALED EL-HOUSSAINE |
分类号 |
B25J9/16;B25J9/18;(IPC1-7):G06F19/00 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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