The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 31, 2021
Filed:
Dec. 14, 2017
Nanjing Estun Robotics Co., Ltd, Nanjing, CN;
Riyue Feng, Nanjing, CN;
Jihu Wang, Nanjing, CN;
Zhengxian Xia, Nanjing, CN;
Tingting Pan, Nanjing, CN;
Bo Wu, Nanjing, CN;
Shuyi Jing, Nanjing, CN;
NANJING ESTUN ROBOTICS CO., LTD, Jiangsu, CN;
Abstract
A robot joint space point-to-point movement trajectory planning method. Joint space trajectory planning is performed according to the displacement of a robot from a start point to a target point during PTP movement and a limitation condition of a preset movement parameter physical quantity of each axis in a robot control system. An n-dimensional space is constructed by taking each axis of the robot as a vector, wherein n≥2, and the movement parameter physical quantity of each axis of the robot is verified according to a vector relationship between the n axes of the robot, so that a trajectory planning curve of each axis of the robot satisfies the limitation condition of the preset movement parameter physical quantity. The method has a small amount of calculations and strong real-time performance, the movement curves are mild, the control time is optimal, and the algorithm execution effect is good.