Is a
Patent attributes
Patent Jurisdiction
Patent Number
Date of Patent
May 10, 2022
Patent Application Number
16865940
Date Filed
May 4, 2020
Patent Citations Received
Patent Primary Examiner
CPC Code
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.
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