Patent ID: 6216058
Filing Date: 2001-04-10
Classification: B25J,G05B,Y10S

Abstract:
A method for reliable and numerically efficient generation of constrained time-optimum trajectories with easy-to-track or continuous acceleration profiles for the arm movements of robotic manipulators to produce time-optimum arm movement along a transfer path, comprising the steps of:identifying a set of fundamental trajectory shapes which cover a given set of constraints for a given category of arm movements along a transfer path;determining the set of conditions associated with each fundamental trajectory shape which determine whether the shape can be used for a particular arm movement;decomposing said fundamental trajectory shapes into segments where a single constraint is active;determining the time-optimum trajectory solutions for the segments;combining the time-optimum trajectory solutions of the segments into time-optimum trajectory shapes; andproducing a time-optimum arm movement along the transfer path by selecting the time-optimum trajectory shape that can be used for the arm movement based on the determinations from determining the set of conditions.