Patent ID: 11878418
Assignee: HONDA RESEARCH INSTITUTE EUROPE GMBH
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 17:
18. A method for controlling at least one effector trajectory of an effector of a robot for solving a predefined task, the method comprising:
acquiring a sequence of postures, each posture including at least one contact point with a physical structure and a kinematic pose of the at least one effector;
modifying at least one of a contact constraint topology according to the acquired sequence of postures, and an object constraint topology according to the acquired sequence of postures;
generating a set of constraint equations based on at least one of the modified contact constraint topology and the modified object constraint topology;
performing constraint relaxation to generate a task description including a set of relaxed constraint equations,
wherein performing constraint relaxation on the generated set of constraint equations includes at least relaxing a constraint equation on at least one location of a tool or object required for solving the task;
generating the at least one effector trajectory by applying a trajectory generation algorithm on the set of constraint equations;
performing an inverse kinematics algorithm on the generated at least one effector trajectory for generating a control signal;
controlling at least one effector to execute the at least one effector trajectory based on the generated control signal; and
determining at least one optimized location of the tool or object for designing a workplace within an environment of the robot.