| 专利名称 | System and method for robot trajectory generation with continuous accelerations | 申请号 | US201013142540 | 专利类型 | US | 公开（公告）号 | US8600554(B2) | 公开（授权）日 | 2013.12.03 | 申请（专利权）人 | 中国科学院自动化研究所 | 发明（设计）人 | JING FENGSHUI;TAN MIN;LI EN;LIANG ZIZE;HOU ZENGGUANG;YANG DEGANG;ZHANG KAILIANG;QIANG YANHUI | 主分类号 | G05B19/00 | IPC主分类号 | G05B19/00;G06F19/00 | 专利有效期 | System and method for robot trajectory generation with continuous accelerations 至System and method for robot trajectory generation with continuous accelerations | 法律状态 | 说明书摘要 | A method for robot trajectory generation with continuous acceleration, Receiving a user''s motion command through a motion command interface, and sending the user''s motion command to Cartesian trajectory generator; Converting the user''s command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity''s limit value and an acceleration''s limit value of each robot joint stored in a robot parameter database respectively. |
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