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# Trajectory Generation Method for Assembly Robots' Continuous Path

IP.com Disclosure Number: IPCOM000106420D
Original Publication Date: 1993-Nov-01
Included in the Prior Art Database: 2005-Mar-21
Document File: 2 page(s) / 89K

IBM

## Related People

Obata, M: AUTHOR [+4]

## Abstract

Disclosed is a method for generating trajectory of assembly robots' continuous path.

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This is the abbreviated version, containing approximately 71% of the total text.

Trajectory Generation Method for Assembly Robots' Continuous Path

Disclosed is a method for generating trajectory of assembly
robots' continuous path.

Robots' motion is often categorized into point-to-point motion
and continuous path motion.  Fig. 1 shows the velocity profile of a
point-to-point motion along time.  In the case of successive
point-to-point motions, the motion segments are repeated as in Fig.
2.  This continuous path generation method is the extention of the
successive point-to-point motions.  The start times of each motion
segments are advanced as in Fig. 3, which means the acceleration of a
motion segments occurs in the deceleration of the previous motion
segments.  As the velocity reference, the sum of the velocities of
each motion segments is calculated in each time.

The trajectory at the time t is calculated as follows: Assume
that N motion segments are registered at the time t. Robot motion
starts from the point x0, which is the start position of the first
one in registered motion segments.  The i-th motion segment has the
start position xi-1 at the time ti0 and the finish position xi at the
time ti1.  The function fi(t) defines the i-th motion's position
offset from the i-th motion segment's start position xi-1.

t < ti0
dfi(t)/dt = 0
fi(t) = 0
ti0 < t < ti1
dfi(t)/dt : continuous function as i...