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:
Sep. 23, 2014
Filed:
Jan. 13, 2012
Yasuhiro Ota, Union, KY (US);
Junggon Kim, Pittsburgh, PA (US);
James J. Kuffner, Mountain View, CA (US);
Yasuhiro Ota, Union, KY (US);
Junggon Kim, Pittsburgh, PA (US);
James J. Kuffner, Mountain View, CA (US);
Toyota Motor Engineering & Manufacturing North America, Inc., Erlanger, KY (US);
Carnegie Mellon University, Pittsburgh, PA (US);
Abstract
Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator.