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:
Nov. 09, 2021
Filed:
Jun. 06, 2019
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Shintaro Yoshizawa, Nagoya, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
An operation planning apparatusof a robotincludes a non-interference path generation unitand a time determination unitconfigured to generate a time-space path. The time determination unitincludes a temporary time setting unitconfigured to set, for each main point, temporary time in such a way that an operation speed does not exceed a maximum allowable speed between the plurality of main points; and a temporary time adjustment unitconfigured to spatially smooth the spatial smoothing path in a first smoothing range that includes the main point using a mollifier function, and prolong, if the operation speed exceeds the maximum allowable acceleration in the first smoothing range, the temporary time of the plurality of main points after the main point in such a way that the operation speed does not exceed the maximum allowable acceleration in the first, smoothing range.