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:
Jun. 13, 2023
Filed:
Feb. 03, 2021
Applicant:
Denso Corporation, Kariya, JP;
Inventor:
Kenichi Minoya, Kariya, JP;
Assignee:
DENSO CORPORATION, Kariya, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B25J 9/16 (2006.01); B25J 13/08 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1666 (2013.01); B25J 9/163 (2013.01); B25J 9/1607 (2013.01); B25J 13/089 (2013.01);
Abstract
In a trajectory generation apparatus, position coordinates of an obstacle existing in a motion space of a robot arm is acquired. A hand position at a second time, which is a time next to a first time, is estimated by using a learning result of machine learning, based on the position coordinates of the obstacle, a subject joint state of the robot arm at the first time, and a target joint state of the robot arm. A non-interfering joint state of the robot arm at which the obstacle does not interfere with the robot arm at the second time is searched for by using the hand position as a restriction.