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:
Oct. 14, 2025
Filed:
Dec. 21, 2021
Ocado Innovation Limited, Hatfield, GB;
Tiago Miguens Rijo Branco Jorge, Hatfield, GB;
OCADO INNOVATION LIMITED, Hatfield, GB;
Abstract
A method for generating a trajectory to control movement of a motion device, by: i) receiving a specification of the trajectory; ii) receiving at least one jerk constraint; and iii) generating a sequence of one or more trajectory segments based on the at least one jerk constraint. The generating includes applying a velocity transition algorithm including moving the magnitude of a velocity reference of the trajectory segments in a given time to a desired final velocity reference, the difference between the desired final velocity reference and the velocity reference defining a velocity delta. The velocity transition algorithm includes computing a peak acceleration having a magnitude being a function of the velocity delta.