SYSTEM AND METHOD FOR TRAJECTORY PLANNING FOR MANIPULATORS IN ROBOTIC FINISHING APPLICATIONS
First Claim
1. A method for automatically moving a tool attached to a robotic manipulator from a start position to a goal position, the method comprising:
- determining, using a processor, a plurality of next possible positions from the start position;
selecting, using the processor, a second position from the plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the plurality of next possible positions;
moving, using a plurality of actuators, the tool to the second position; and
determining, using the processor, an updated plurality of next possible positions, selecting a next position from the updated plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the updated plurality of next possible positions, and moving the tool to the next position until the goal position is reached.
1 Assignment
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Accused Products
Abstract
Methods, systems, and apparatus for automatically moving a tool attached to a robotic manipulator from a start position to a goal position. The method includes determining, using a processor, a plurality of next possible positions from the start position. The method includes selecting a second position from the plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the plurality of next possible positions. The method includes moving, using a plurality of actuators, the tool to the second position. The method includes determining an updated plurality of next possible positions, selecting a next position, and moving the tool to the next position until the goal position is reached.
1 Citation
20 Claims
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1. A method for automatically moving a tool attached to a robotic manipulator from a start position to a goal position, the method comprising:
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determining, using a processor, a plurality of next possible positions from the start position; selecting, using the processor, a second position from the plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the plurality of next possible positions; moving, using a plurality of actuators, the tool to the second position; and determining, using the processor, an updated plurality of next possible positions, selecting a next position from the updated plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the updated plurality of next possible positions, and moving the tool to the next position until the goal position is reached. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for automatically moving a tool attached to a robotic manipulator from a start position to a goal position, the system comprising:
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a processor configured to; determine a plurality of next possible positions from the start position, select a second position from the plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the plurality of next possible positions, and determine an updated plurality of next possible positions and select a next position from the updated plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the updated plurality of next possible positions until the goal position is reached; and a plurality of actuators configured to move the tool to the second position, the next position, or the goal position. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method for automatically moving a tool attached to a robotic manipulator from a start position to a goal position, the method comprising:
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determining, using a processor, a plurality of next possible positions from the start position using a motion primitive, the motion primitive chosen from a plurality of possible motion primitives based on a freedom of motion of the robotic manipulator; selecting, using the processor, a second position from the plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the plurality of next possible positions; moving, using a plurality of actuators, the tool to the second position; and determining, using the processor, an updated plurality of next possible positions, selecting a next position from the updated plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the updated plurality of next possible positions, and moving the tool to the next position until the goal position is reached. - View Dependent Claims (18, 19, 20)
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Specification