Kinematic Trajectory Planning With Pose-Speed Presets
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Solution Overview
Problem
The challenge in robotics is to handle speed presets effectively when determining trajectories in pose space, as existing methods struggle to maintain consistent speed in three-dimensional space, leading to uneven movements and complicating the handling of speed presets.
Innovation Solution
A method is introduced to determine a trajectory by obtaining a maximum speed and path in pose space, and then determining a set of points in the working space based on a metric, ensuring that the pose speed is adapted to the application, with the trajectory being calculated to maintain speeds that are less than or equal to the maximum speed, while also considering pose acceleration and jerk.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If speed presets are applied directly in pose space without adaptation, then the maximum speed is maintained, but the robot exhibits uneven movements in three-dimensional space
Solution Approach 1:
The patent transforms the speed control parameter from pose space to working space by defining a pose metric based on working space points. This parameter transformation ensures that speed limits defined in three-dimensional physical space are correctly reflected in pose space, eliminating uneven movements while maintaining the maximum speed constraint.
2Stability of the object's composition
If a metric-based approach is used to adapt pose speed to working space points, then movement uniformity is improved, but the device complexity increases
Solution Approach 1:
The patent pre-defines a pose metric based on a set of working space points before trajectory calculation. This preliminary setup creates a reusable mapping between pose space and working space, allowing subsequent trajectory calculations to efficiently enforce speed constraints without complex real-time computations during motion execution.
Data Source
AI summary
A method for determining a trajectory in a pose space of kinematic in accordance with a given path of the trajectory is provided. The trajectory is to be traversed here by the kinematic for a certain application. A set of points in the working space of the kinematic, on which a metric of the pose space to be used for determining the trajectory is based, is determined based on the application. Based on the path, the trajectory is determined in such a way that, when the kinematic traverses the trajectory, a pose speed that is based on the metric is smaller than or equal to a predefined maximum speed.