公开(公告)号：KR101390819B1

公开(公告)日：2014-05-07

申请号：KR1020130046608

申请日：2013-04-26

Applicant: 한국과학기술연구원

Inventor： 김도익 ,  이건

IPC: B25J9/10 ,  B25J13/00 ,  G06F19/00

Abstract: The present invention provides a trajectory generation system for converting a target trajectory to a follow-up trajectory to which a robot actually follows up. The trajectory generation system comprises: a target trajectory generation module for generating the target trajectory of the robot corresponding to the inputted motion of a user; and a follow-up trajectory generation module for converting square waves per unit area to the follow-up trajectory by convoluting the square waves per unit area to the inputted trajectory. When the second motion of the user is inputted to the robot during the operation of the robot operated by following up a first follow-up trajectory, which is generated by converting a first target trajectory according to an inputted first motion of the user, the target trajectory generation module generates a second target trajectory corresponding to an inputted second motion and the follow-up trajectory generation module generates first and second convolution trajectories by convoluting the first and second target trajectories, respectively. Accordingly, the system can generate a new follow-up trajectory by connecting the end point of the first convolution trajectory and the start point of the second convolution trajectory at a time when the second motion is inputted. Also, the present invention provides a trajectory generation method using the trajectory system.

Abstract translation: 本发明提供了一种轨迹生成系统，用于将目标轨迹转换成机器人实际追随的后续轨迹。 轨迹生成系统包括：目标轨迹生成模块，用于生成与用户的输入动作对应的机器人的目标轨迹; 以及跟踪轨迹生成模块，用于通过将每单位面积的方波卷积到输入的轨迹上，将每单位面积的方波转换为跟踪轨迹。 当在通过跟踪通过根据输入的用户的第一运动转换第一目标轨迹而生成的第一跟踪轨迹来操作的机器人的操作期间将用户的第二运动输入到机器人时，目标 轨迹生成模块生成与输入的第二动作对应的第二目标轨迹，跟踪轨迹生成模块分别通过卷积第一和第二目标轨迹来生成第一和第二卷积轨迹。 因此，通过在输入第二动作时连接第一卷积轨迹的终点和第二卷积轨迹的起始点，系统可以产生新的跟踪轨迹。 此外，本发明提供一种使用轨迹系统的轨迹生成方法。