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:
Dec. 03, 2013
Filed:
Jun. 04, 2010
Fengshui Jing, Beijing, CN;
Min Tan, Beijing, CN;
En LI, Beijing, CN;
Zize Liang, Beijing, CN;
Zengguang Hou, Beijing, CN;
Degang Yang, Beijing, CN;
Kailiang Zhang, Beijing, CN;
Yanhui Qiang, Beijing, CN;
Fengshui Jing, Beijing, CN;
Min Tan, Beijing, CN;
En Li, Beijing, CN;
Zize Liang, Beijing, CN;
Zengguang Hou, Beijing, CN;
Degang Yang, Beijing, CN;
Kailiang Zhang, Beijing, CN;
Yanhui Qiang, Beijing, CN;
Institute of Automation, Chinese Academy of Sciences, Beijing, CN;
Abstract
A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively.