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

Claim 6:
7. A system for path planning, the system comprising: at least one processor configured to:
obtain 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,
obtain a desired pose where the robotic arm needs to reach,
compute 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,
calculate a plurality of candidate next poses of the plurality of operable segments based on the angle step-value,
filter 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,
select one or more of the plurality of filtered candidate next poses based on at least one criterion, resulting in selected one or more candidate next poses, and
determine 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.