Patent ID: 11865725
Assignee: SIEMENS AKTIENGESELLSCHAFT
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 13:
14. A computer program product, comprising a computer readable hardware storage device having computer readable program code stored therein, said program code executable by a processor of a computer system to implement a method for ascertaining a movement of an apparatus, wherein the apparatus comprises a tool that is movable by way of translational and/or rotational axes of movement of the apparatus when said computer executes the computer program,
wherein the method includes:
ascertaining a first movement trajectory of the tool in a first configuration space, wherein a predetermined parameter of a movement of the tool is optimized when ascertaining the first movement trajectory,
checking whether the first movement trajectory satisfies at least one predetermined first boundary condition,
ascertaining a second movement trajectory of the tool in a second configuration space by transforming the first movement trajectory into the second configuration space when the first movement trajectory satisfies the predetermined first boundary condition,
checking whether the second movement trajectory satisfies at least one predetermined second boundary condition,
providing the first movement trajectory and/or the second movement trajectory for moving the tool when the second movement trajectory satisfies the predetermined second boundary condition,

wherein a first partial movement of the tool is set by a first section of the first movement trajectory and a second partial movement of the tool is set by a second section of the second movement trajectory,
wherein an additional first movement trajectory is ascertained in the first configuration space when the second movement trajectory does not satisfy the predetermined second boundary condition, and
wherein the predetermined parameter of the movement of the tool is optimized while observing the predetermined second boundary condition when ascertaining the additional first movement trajectory.