Patent ID: 8843237

Claim:
A computer implemented method for controlling a robotic manipulator, comprising: determining a target path for the robotic manipulator, the target path having a starting point and an ending point; determining a permissible motion value profile for the target path; defining a path segment within the target path, the path segment having a starting point shifted in a direction of departure from the starting point of the target path, and an ending point shifted in a direction contrary to the direction of departure from the ending point of the target path; determining a motion value profile for the path segment within the target path, the motion value profile based on a ranged of permitted motion values for the path segment defined by the permissible motion value profile of the target path, and further determined based on a range of permitted derivative values of the motion value profile at one or both of the starting and ending points of the path segment; and causing the manipulator to traverse the path segment in accordance with the motion value profile.