US 12,138,801 B2
Trajectory plan generation device, trajectory plan generation method, and trajectory plan generation program
Yuta Yamauchi, Tokyo (JP); and Nobuaki Nakasu, Tokyo (JP)
Assigned to HITACHI, LTD., Tokyo (JP)
Appl. No. 17/772,524
Filed by Hitachi, Ltd., Tokyo (JP)
PCT Filed Aug. 13, 2020, PCT No. PCT/JP2020/030810
§ 371(c)(1), (2) Date Apr. 28, 2022,
PCT Pub. No. WO2021/100268, PCT Pub. Date May 27, 2021.
Claims priority of application No. 2019-208578 (JP), filed on Nov. 19, 2019.
Prior Publication US 2022/0379473 A1, Dec. 1, 2022
Int. Cl. B25J 9/16 (2006.01); G05D 3/10 (2006.01)
CPC B25J 9/1664 (2013.01) [G05D 3/10 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A trajectory plan generation device configured to generate a trajectory plan in which a tip portion of a robot arm having a plurality of joints moves from a start point to an end point, the trajectory plan generation device comprising:
a processor configured to execute a program; and
a storage device configured to store the program, wherein
the processor is configured to execute:
a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between the start point and the end point;
a second search process for searching for, at the plurality of position candidates, a plurality of posture candidates of the tip portion that change within an allowable range by spherical interpolation based on postures of the tip portion at the start point and the end point;
a first determination process for determining second trajectory information indicating a position and a posture of a movement destination of the tip portion from the first trajectory information based on the plurality of position candidates searched for by the first search process and the plurality of posture candidates searched for by the second search process, and
an output process for outputting trajectory data including the first trajectory information and the second trajectory information determined by the determination process.