Robot Braking Simulation Using Final State Ranges

The patent applies parameter changes by determining a range of possible final states instead of a single final state, taking into account variations in friction characteristics and braking torques. This is achieved by calculating braking distances for multiple selectable points on the movement path and determining a virtual movement range that includes maximally achievable positions considering these parameter variations.

The patent transitions from calculating a single braking distance value to determining a range of final states by adding the dimension of parameter variation. This involves calculating braking distances for multiple points and representing the result as a virtual movement range that encompasses multiple possible positions, thereby moving from a one-dimensional calculation to a multi-dimensional state space.

The patent applies preliminary action by pre-calculating and storing braking distances for multiple selectable points on the movement path. These pre-computed values are then used to determine the virtual movement range, avoiding the need to perform full dynamic simulations for each possible final state and thereby reducing computational effort.

The patent segments the movement path into multiple selectable points and calculates braking distances for each point independently. This segmentation allows the complex problem of determining the virtual movement range to be broken down into simpler sub-problems of calculating individual braking distances, which can then be combined to form the overall range.