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Robot and control method of optimizing robot motion performance thereof

  • US 20110106303A1
  • Filed: 10/25/2010
  • Published: 05/05/2011
  • Est. Priority Date: 10/30/2009
  • Status: Active Grant
First Claim
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1. A method of controlling a robot, the method comprising:

  • forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot;

    calculating a value of an objective function having a limited condition according to the first bell-shaped velocity profile; and

    driving a joint of the robot in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.

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