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

Claim 0:
1. 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,
wherein modifying the contact constraint topology comprises:
in case a contact location in an object frame of a current posture in the sequence of postures remains the same as a contact location of a corresponding contact in an immediately preceding posture of the sequence of postures;
removing a constraint of the contact to the object in the current posture; and
connecting a new constraint of the contact in the current posture to the corresponding contact in at least one immediately preceding posture of the 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;
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; and
controlling at least one effector to execute the at least one effector trajectory based on the generated control signal.