Patent ID: 11919170
Assignee: EDDA TECHNOLOGY, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A method, implemented on a machine having at least one processor, storage, and a communication platform capable of connecting to a network for path planning, the method comprising:
obtaining information of an initial pose of a robotic arm having a plurality of operable segments, wherein the information includes a plurality of values, each of which corresponds to an angle formed between consecutive operable segments of the robotic arm;
obtaining a desired pose where the robotic arm needs to reach;
computing an angle step-value for the initial pose of the robotic arm based on a function of a distance between the initial pose and the desired pose, where the function of the distance uses an estimated longest distance between the an initial position and a goal position;
calculating a plurality of candidate next poses of the plurality of operable segments based on the angle step-value;
filtering the plurality of candidate next poses based on a required number of changed joint angles between the plurality of operable segments, resulting in a plurality of filtered candidate next poses;
selecting one or more of the plurality of filtered candidate next poses based on at least one criterion; and
determining a trajectory from the initial pose to the desired pose based on the selected one or more candidate next poses, wherein the trajectory uses a dynamic resolution such that each step along an entirety of the trajectory is smaller than a previous step.