Title:
APPARATUS FOR GENERATING TIME-OPTIMUM ARM OPERATIONS
Document Type and Number:
Japanese Patent JP2017035782
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a system for providing the reliable and efficient generation of time-optimum trajectories with easy-to-track or continuous acceleration profiles for simple and blended moves of single- and multi-arm robotic manipulators.SOLUTION: Assumed are universal trajectories of shapes of moves along straight lines relative to a single-arm robot between points (2 and 3). A time-optimum trajectory is a set of position, velocity, and acceleration profiles which describe the move of a selected end effector along a given path in the shortest time possible without violating given constraints, with a special case being an optimum abort trajectory, which brings the moving arm into complete rest in the shortest time. The system involves the blending of simple moves into a single trajectory by decomposing trajectories of the individual moves into their orthogonal components and overlapping them for a given time interval, which results in a non-stop move along a smooth transfer path.SELECTED DRAWING: Figure 11
Inventors:
MARTIN HOSEK
ELMALI HAKAN
ELMALI HAKAN
Application Number:
JP2016201355A
Publication Date:
February 16, 2017
Filing Date:
October 12, 2016
Export Citation:
Assignee:
BROOKS AUTOMATION INC
International Classes:
B25J9/10; G06Q50/04; B25J9/16; B25J9/18; G06F17/13; G06F19/00; G06Q10/06
Domestic Patent References:
| JP2012172529A | 2012-09-10 | |||
| JPH0825258A | 1996-01-30 | |||
| JPH07146704A | 1995-06-06 | |||
| JPS61214005A | 1986-09-22 | |||
| JPS60220408A | 1985-11-05 | |||
| JPH06282333A | 1994-10-07 | |||
| JPH08234823A | 1996-09-13 |
Foreign References:
| WO1998010340A1 | 1998-03-12 |
Attorney, Agent or Firm:
Motohiko Fujimura
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