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:
Apr. 28, 2026
Filed:
Mar. 14, 2024
Fanuc America Corporation, Rochester Hills, MI (US);
Joonyoung Kim, Troy, MI (US);
Eric Lattas, Rochester Hills, MI (US);
Nivedhitha Giri, Farmington Hills, MI (US);
Peter Swanson, Bloomfield Hills, MI (US);
FANUC AMERICA CORPORATION, Rochester Hills, MI (US);
Abstract
A method for computing robot motion where the tool center point translational acceleration does not exceed a defined limit. Robot motion for an upcoming segment of a trajectory is computed using a known 'S-curve' technique, where joint motions are calculated which move the robot from a start pose to an end pose in the shortest time given maximum joint velocity, acceleration and jerk values. Significant points on the S-curve are identified which correspond with maximum translational acceleration of the tool center point. Tool center point Cartesian motion is then calculated from the joint motions using forward kinematics. The maximum translational acceleration of the tool center point is determined and compared to the defined acceleration limit. If the maximum acceleration of the tool center point exceeds the acceleration limit, the joint motions for the trajectory segment are re-calculated using a scale factor which reduces the joint and tool center point accelerations.