US 12,109,707 B2
Control of robotic devices over a wireless network
Géza Szabó, Kecskemét (HU); Sándor Rácz, Cegléd (HU); and Norbert Reider, Tényö (HU)
Assigned to TELEFONAKTIEBOLAGET LM ERICSSON (PUBL), Stockholm (SE)
Appl. No. 17/769,147
Filed by Telefonaktiebolaget LM Ericsson (PUBL), Stockholm (SE)
PCT Filed Oct. 16, 2019, PCT No. PCT/EP2019/078082
§ 371(c)(1), (2) Date Apr. 14, 2022,
PCT Pub. No. WO2021/073732, PCT Pub. Date Apr. 22, 2021.
Prior Publication US 2023/0135285 A1, May 4, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1607 (2013.01); B25J 9/1689 (2013.01); B25J 13/006 (2013.01); G05B 2219/40174 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a robotic device with modified control commands transmitted over a wireless network, wherein the robotic device comprises a plurality of joints, wherein each joint represents one degree of freedom of the robotic device, the method comprising at a trajectory modification entity:
determining a load of the wireless network,
receiving a plurality of control commands controlling a planned trajectory of the robotic device from a robotic control entity, each of the control commands configured to control one degree of freedom of a first number of degrees of freedom addressed by the plurality of control commands,
determining a reduced number of degrees of freedom for the modified control commands smaller than the first number based on the determined load,
determining the modified control commands based on the reduced number of degrees of freedom, wherein the modified control commands address a limited number of degrees of freedom not higher than the reduced number of degrees of freedom,
transmitting the modified control commands instead of the received plurality of control commands to the robotic device.