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. 10, 2014
Filed:
Mar. 09, 2007
Applicants:
Hidenori Yabushita, Toyota, JP;
Kazuhiro Mima, Toyota, JP;
Takemitsu Mori, Toyota, JP;
Yoshiaki Asahara, Obu, JP;
Inventors:
Hidenori Yabushita, Toyota, JP;
Kazuhiro Mima, Toyota, JP;
Takemitsu Mori, Toyota, JP;
Yoshiaki Asahara, Obu, JP;
Assignee:
Toyota Jidosah Kabushki Kaisha, Toyota-shi, Aichi-ken, JP;
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G01C 22/00 (2006.01); G05D 1/00 (2006.01); G06F 19/00 (2011.01); G05D 1/02 (2006.01); B60T 8/172 (2006.01); G06N 3/00 (2006.01);
U.S. Cl.
CPC ...
G05D 1/0272 (2013.01); B60T 8/172 (2013.01); G06N 3/008 (2013.01);
Abstract
A trajectory tracking control system according to the invention controls a robot () to track a target path (). In this system, the target path () is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (). Then, the control of the robot () is set in accordance with the calculated curvature.