TRAJECTORY GENERATION SYSTEM, TRAJECTORY GENERATION METHOD, AND NON-TRANSITORY STORAGE MEDIUM

A system includes: one or more memories; and one or more processors configured to, acquire three-dimensional data of an environment at a first timing; extract a plurality of pieces of motion data from the one or more memories, the motion data including the target end-effector position and attitude a...

Full description

Saved in:
Bibliographic Details
Main Authors Takeshita, Keisuke, YAMAZAKI, Kimitoshi, Iwasaki, Takuya
Format Patent
LanguageEnglish
Published 03.10.2024
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HAND TOOLS
MANIPULATORS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
TRANSPORTING
Online AccessGet full text

Cover

More Information
Summary:A system includes: one or more memories; and one or more processors configured to, acquire three-dimensional data of an environment at a first timing; extract a plurality of pieces of motion data from the one or more memories, the motion data including the target end-effector position and attitude and a swept volume that does not contact the environment; start the task based on first motion data, the first motion data being one of the extracted pieces of motion data; when determination is made that the mobile manipulator comes into contact with the environment, extract, as second motion data, motion data including a swept volume that does not contact the environment based on the three-dimensional data acquired in real time; and generate a transition trajectory for transitioning from a trajectory of the first motion data to a trajectory of the second motion data.
Bibliography:Application Number: US202418598031