US 12,434,384 B2
Method and control system for controlling movement trajectories of a robot
Stefan Westberg, Västerås (SE); and Giacomo Spampinato, Västerås (SE)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 17/049,019
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed Apr. 25, 2018, PCT No. PCT/EP2018/060526
§ 371(c)(1), (2) Date Oct. 19, 2020,
PCT Pub. No. WO2019/206408, PCT Pub. Date Oct. 31, 2019.
Prior Publication US 2021/0245364 A1, Aug. 12, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/0081 (2013.01); B25J 9/1671 (2013.01); G05B 2219/40463 (2013.01); G05B 2219/40465 (2013.01); G05B 2219/40515 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method for controlling movement trajectories of a robot,
the method comprising:
predicting, in an offline mode, values of at least one parameter related to the execution of alternative movement trajectories between a first position of the robot and a second position of the robot;
selecting, in the offline mode, a movement trajectory based on the predicted values of the at least one parameter; and
executing the selected movement trajectory by the robot;
wherein the method further comprises:
generating the alternative movement trajectories prior to predicting the values of the at least one parameter related to the execution of the alternative movement trajectories;
wherein the alternative movement trajectories are defined by different constants of a parametric curve; and
wherein the alternative movement trajectories are offset less than 50% of a distance between the first position and the second positon, from a straight line between the first position and the second position.