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Selecting robot poses to account for cost

  • US 9,682,476 B1
  • Filed: 05/28/2015
  • Issued: 06/20/2017
  • Est. Priority Date: 05/28/2015
  • Status: Active Grant
First Claim
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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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