Selecting robot poses to account for cost
First Claim
1. A computer-implemented method, comprising:
- defining, by one or more processors, a reference path in Cartesian space between a sequence of two or more sites that is traversable by a reference point associated with an end effector of a robot;
determining, by the one or more processors, a plurality of candidate instruction sets, each candidate instruction set configured to cause the robot to assume a different respective sequence of poses in joint space while traversing the reference point along the reference path in Cartesian space, wherein each candidate instruction set is implementable by the robot to operate one or more operational components of the robot in joint space;
calculating, by the one or more processors for one or more of the plurality of candidate instruction sets, a cost that would be incurred while the robot implements the candidate instruction set to traverse the reference point along the reference path;
selecting, by the one or more processors from the plurality of candidate instruction sets, a candidate instruction set associated with a calculated cost that satisfies a criterion; and
causing, by the one or more processors, the robot to implement the selected candidate instruction set to traverse the reference point along the reference path through the two or more sites.
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Accused Products
Abstract
Methods, apparatus, systems, and computer-readable media are provided for selecting robot poses to account for cost. In various implementations, a plurality of candidate instruction sets may be determined. Each candidate instruction set may be configured to cause a robot to assume a different respective set of poses while traversing a reference point along a path. In various implementations, a cost incurred while the robot implements the candidate instruction set to traverse the reference point along the path may be calculated. A candidate instruction set associated with an incurred cost that satisfies a first criterion may be selected from the plurality of candidate instruction sets. In some implementations, the selected candidate instruction set and incurred cost may be associated with the path.
41 Citations
23 Claims
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1. A computer-implemented method, comprising:
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defining, by one or more processors, a reference path in Cartesian space between a sequence of two or more sites that is traversable by a reference point associated with an end effector of a robot; determining, by the one or more processors, a plurality of candidate instruction sets, each candidate instruction set configured to cause the robot to assume a different respective sequence of poses in joint space while traversing the reference point along the reference path in Cartesian space, wherein each candidate instruction set is implementable by the robot to operate one or more operational components of the robot in joint space; calculating, by the one or more processors for one or more of the plurality of candidate instruction sets, a cost that would be incurred while the robot implements the candidate instruction set to traverse the reference point along the reference path; selecting, by the one or more processors from the plurality of candidate instruction sets, a candidate instruction set associated with a calculated cost that satisfies a criterion; and causing, by the one or more processors, the robot to implement the selected candidate instruction set to traverse the reference point along the reference path through the two or more sites. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. At least one non-transitory computer-readable medium comprising instructions that, in response to execution of the instructions by a computing system, cause the computing system to perform the following operations:
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defining a plurality of candidate paths in Cartesian space between a sequence of two or more sites that are traversable by a reference point associated with an end effector of a robot; for one or more of the plurality of candidate paths; determining a plurality of candidate instruction sets, each candidate instruction set configured to cause the robot to assume a different respective sequence of poses in joint space while traversing the reference point along the candidate path in Cartesian space, wherein each candidate instruction set is implementable by the robot to operate one or more operational components of the robot in joint space; calculating, for one or more of the plurality of candidate instruction sets, a cost that would be incurred by a particular operational component of the robot while implementing the candidate instruction set to traverse the reference point along the candidate path; selecting, from the plurality of candidate instruction sets, a candidate instruction set associated with an associated incurred cost that satisfies a first criterion; associating the selected candidate instruction set and incurred cost with the candidate path; selecting, as a task path from the plurality of candidate paths, a candidate path associated with an incurred cost that satisfies a second criterion; and causing the robot to traverse the reference point along the task path.
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16. A system comprising one or more processors and memory operably coupled with the one or more processors, wherein the memory stores instructions that, in response to execution of the instructions by one or more processors, cause the one or more processors to:
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define a reference path in Cartesian space between a sequence of two or more sites that is traversable by a reference point associated with an end effector of a robot; determine a plurality of candidate instruction sets, each candidate instruction set configured to cause the robot to assume a different respective sequence of poses in joint space while traversing the reference point along the reference path in Cartesian space, wherein each candidate instruction set is implementable by the robot to operate one or more operational components of the robot in joint space; calculate, for one or more of the plurality of candidate instruction sets, a cost that would be incurred while the robot implements the candidate instruction set to traverse the reference point along the reference path; select, from the plurality of candidate instruction sets, a candidate instruction set associated with a calculated cost that satisfies a criterion; and cause the robot to implement the selected candidate instruction set to traverse the reference point along the reference path through the two or more sites. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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Specification