Robots, computer program products, and methods for trajectory plan optimization
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United States of America Patent
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Sep 23, 2014
Grant Date -
Jul 18, 2013
app pub date -
Jan 13, 2012
filing date -
Jan 13, 2012
priority date (Note) -
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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.
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