专利详情

专利名称	System and method for robot trajectory generation with continuous accelerations
申请号	US201013142540	专利类型	US
公开（公告）号	US8600554(B2)	公开（授权）日	2013.12.03
申请（专利权）人	中国科学院自动化研究所	发明（设计）人	JING FENGSHUI;TAN MIN;LI EN;LIANG ZIZE;HOU ZENGGUANG;YANG DEGANG;ZHANG KAILIANG;QIANG YANHUI
主分类号	G05B19/00	IPC主分类号	G05B19/00;G06F19/00
专利有效期	System and method for robot trajectory generation with continuous accelerations 至System and method for robot trajectory generation with continuous accelerations	法律状态
说明书摘要	A method for robot trajectory generation with continuous acceleration, Receiving a user''s motion command through a motion command interface, and sending the user''s motion command to Cartesian trajectory generator; Converting the user''s command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity''s limit value and an acceleration''s limit value of each robot joint stored in a robot parameter database respectively.