Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (n>5)

Patent metadata

Field	Value
Publication number	US-8972056-B2
Application number	US-201113521594-A
Country	US
Kind code	B2
Filing date	Jan 7, 2011
Priority date	Jan 14, 2010
Publication date	Mar 3, 2015
Grant date	Mar 3, 2015

Abstract

There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths q Robot (t) using IK (t) and q Tool (t) as set of possible solutions at time t, wherein q Robot (t) defines positions of all the joints in the robot as function of time, q Tool (t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and q Tool (t); and determining, from the geometric data and X(t), how the joint path q Robot (t) should be chosen so as to comply with one or more optimisation criteria.

First claim

The invention claimed is:

1. A computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, said method comprising the steps:
receiving geometric data representing the object;
receiving geometric data representing the processing tool;
receiving a tool path X(t), where t is time;
searching for feasible paths q Robot (t) using IK (t) and q Tool (t) as set of possible solutions at time t, whe…

Assignees

• Gordon Petersen Henrik
• Cortsen Jens
• Soelvason Dorthe
• Univ Syddansk

Inventors

• Gordon Petersen Henrik
• Cortsen Jens
• Soelvason Dorthe

Classifications

• G05B2219/40381

  Physics · mapped topic

• B25J9/1664 Primary

  Operations & Transport · mapped topic