Title:
TRAJECTORY PLANNING DEVICE, TRAJECTORY PLANNING METHOD, AND TRAJECTORY PLANNING PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/079809
Kind Code:
A1
Abstract:
Provided is a trajectory planning device for planning a trajectory for controlling a first robot and a second robot which is connected to the first robot so as to be movable by the motion of the first robot, wherein: information indicative of the configuration of an arm of the second robot and information indicative of the positions and postures of a hand of the second robot at a plurality of via points through which the hand of the second robot sequentially passes are held; a singularity curved surface at each via point is calculated on the basis of the configuration of the arm of the second robot and on the basis of the position and posture of the hand at each via point; the target position of the first robot is determined on the basis of the singularity curved surface of the second robot which has been calculated for each via point and on the basis of the movable range of the second robot; and the trajectory to the target position of the first robot is planned, and the trajectory through which the hand of the second robot at the target position of the first robot passes through a plurality of via points is planned.
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Inventors:
YAMAUCHI YUTA (JP)
TSUKIDATE TSUNAMICHI (JP)
NAKASU NOBUAKI (JP)
TSUKIDATE TSUNAMICHI (JP)
NAKASU NOBUAKI (JP)
Application Number:
PCT/JP2022/030798
Publication Date:
May 11, 2023
Filing Date:
August 12, 2022
Export Citation:
Assignee:
HITACHI LTD (JP)
International Classes:
B25J9/10
Domestic Patent References:
| WO2016135861A1 | 2016-09-01 | |||
| WO2011056633A1 | 2011-05-12 |
Foreign References:
| US20160250749A1 | 2016-09-01 | |||
| JPH0713642A | 1995-01-17 | |||
| JP2020179466A | 2020-11-05 | |||
| US20210001483A1 | 2021-01-07 |
Attorney, Agent or Firm:
TOU-OU PATENT FIRM (JP)
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