Trajectory generating method, and trajectory generating apparatus

Patent metadata

Field	Value
Publication number	US-12358137-B2
Application number	US-202217822229-A
Country	US
Kind code	B2
Filing date	Aug 25, 2022
Priority date	Feb 5, 2018
Publication date	Jul 15, 2025
Grant date	Jul 15, 2025

Abstract

A trajectory generating method includes a first generating process of generating a plurality of trajectories between a start teaching point and a target teaching point, an evaluation process of evaluating a motion of the robot arm on each trajectory to calculate an evaluation value of each trajectory, a selection process of selecting one of the plurality of trajectories based on calculated evaluation values, and an update process of updating the trajectory by repeating the processes of generating a plurality of new trajectories by changing a selected trajectory in the selection process, of calculating an evaluation value of a motion of the robot arm on each changed trajectory and of selecting a trajectory based on calculated evaluation values.

First claim

What is claimed is:

1. An information processing method configured to acquire a first trajectory to move a first robot between a first position and a second position, the information processing method comprising:
acquiring plurality of first candidate trajectories, by using one or more processors and a non-transitory memory and changing first time information of at least one position of the first position, the second position, and a first intermediate position through which the first robot is moved between the first position and the second position;
evaluating the plurality of first candidate trajectories and selecting one first candidate trajectory based on a result of the evaluating, by using the one or more processors and the non-transitory memory;
acquiring the first trajectory based on the selected first candidate trajectory, by using the one or more processors and the non-transitory memory; and
outputting a trajectory data for moving the first robot on the first trajectory, by using the one or more processors and the non-transitory memory.

2. The information processing method according to claim 1 , further comprising:
in a case where a second trajectory to move a second robot different from the first robot between a third position and a fourth position is acquired,
acquiring plurality of second candidate trajectories, by using the one or more processor and the non-transient memory and changing second time information of at least one position of the third position, the fourth position, and a second intermediate position through which the second robot is moved between the third position and the fourth position;
evaluating the plurality of second candidate trajectories and selecting one second candidate trajectory based on a result of the evaluating, by using the one or more processors and the non-transitory memory;
acquiring the second trajectory based on the selected second candidate trajectory, by using the one or more processors and the non-transitory memory; and
outputting a trajectory data for moving the second robot on the second trajectory, by using the one or more processors and the non-transitory memory.

3. The information processing method according to claim 2 , wherein
the first time information is a first halt time of the first robot, and
the second time information is a second halt time of the second robot.

4. The information processing method according to claim 3 , wherein
the first halt time is a time to maintain the first robot at a halt state in at least one position of the first position, the second position, and the first intermediate position, and
the second halt time is a time to maintain the second robot at a halt state in at least one position of the third position, the fourth position, and the second intermediate position.

5. The information processing method according to claim 2 , wherein,
the plurality of first candidate trajectories is acquired based on adding a first random number value to the first time information, and
the plurality of second candidate trajectories is acquired based on adding a second random number value to the second time information.

6. The information processing method according to claim 5 , wherein the first and second random number values are generated by using multivariate normal distribution.

7. The information processing method according to claim 5 , wherein
a range of the first random number value becomes narrower as a number of times of acquiring the plurality of first candidate trajectories increases, and
a range of the second random number value becomes narrower as a number of times of acquiring the plurality of second candidate trajectories increases.

8. The information processing method according to claim 5 , wherein
the first random number value is displacement magnitudes given in changing the first time information, and
the second random number value is displacement magnitudes given in changing the second time information.

9. The information processing method according to claim 2 , wherein the plurality of first candidate trajectories and the plurality of second candidate trajectories are acquired when a constraint condition is satisfied, the constraint condition being the first robot arrives at least one of the first position, the second position, and the first intermediate position before the second robot arrives at least one of the third position, the fourth position, and the second intermediate position.

10. The information processing method according to claim 2 , wherein the plurality of first candidate trajectories and the plurality of second candidate trajectories are evaluated based on whether the first robot and the second robot interfere.

11. The information processing method according to claim 2 , wherein the evaluating the plurality of first candidate trajectories is made based on interference time during which the first robot and the peripheral object are occupied the same space or an interference distance between the first robot and the peripheral object.

12. The information processing method according to claim 1 , wherein the plurality of first candidate trajectories is evaluated based on whether the first robot and a peripheral object interfere.

13. The information processing method according to claim 12 wherein the plurality of first candidate trajectories is acquired by changing the first intermediate position and the first time information so as to avoid the first robot from interfering the peripheral object.

14. The information processing method according to claim 13 , wherein,
variations of changes of the first intermediate position and, the first time information become smaller as a number of times of the changes increases.

15. The information processing method according to claim 14 , wherein
in a case where the number of times of the changes reaches a predetermined number, or
in the evaluation process, in a case where a number of times in which an evaluation value acquired based on evaluating in the evaluation process does not change continuously reaches a predetermined number,
the changes are stopped, and the acquiring plurality of first candidate trajectories is stopped.

16. The information processing method according to claim 12 , wherein the plurality of first candidate trajectories is acquired by curve interpolating the first position, the second position, and the first intermediate position.

17. The information processing method according to claim 16 , wherein the curve interpolation is at least one of Spline interpolation, B-Spline interpolation, and Bezier curve interpolation.

18. The information processing method according to claim 12 , wherein,
in acquiring the plurality of first candidate trajectories, the plurality of first candidate trajectories is acquired so as to satisfy at least one of a joint torque constraint, a joint angular speed constraint, a joint angular acceleration constraint, a jerk constraint, a hand speed constraint, and a hand acceleration constraint of the first robot.

19. The information processing method according to claim 12 , wherein the acquiring plurality of first candidate trajectories is stopped in a case where the first robot does not interfere the peripheral object.

20. The information processing method according to claim 1 , wherein the evaluating the plurality of first candidate trajectories is made based on a required time of moving of the first robot in each of the plurality of first candidate trajectories.

21. The information proces

Assignees

• Canon Kk

Inventors

• Kimura Gen

Classifications

• B25J9/0081

  with leader teach-in means · CPC title

• B25J9/1651

  acceleration, rate control · CPC title

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• G05B2219/40428

  Using rapidly exploring random trees algorithm RRT-algorithm · CPC title

• G05B2219/40463

  Shortest distance in time, or metric, time optimal · CPC title