公开(公告)号：US10296675B2

公开(公告)日：2019-05-21

申请号：US14983645

申请日：2015-12-30

Applicant: ABB SCHWEIZ AG

Inventor： Xiongzi Li ,  Steinar Riveland ,  Oeyvind A. Landsnes ,  Christoffer Apneseth ,  Masao Hara ,  Jianjun Wang

IPC: G06F7/60 ,  G06F17/50 ,  G06F17/16 ,  B25J9/16

Abstract: A simulation system to determine an optimal trajectory path for a robot with an attached implement includes a trajectory simulator which provides a simulated trajectory path for an implement, an implement model database which comprises motion data of the implement, and a logger that associates a time stamp of the implement's motion during the simulated trajectory path to generate logger data. A profile is determined by the logger data received from the logger which identifies implement motion that exceeds predetermined thresholds, and a tuner adjusts the simulated trajectory path so as to reduce the number of times predetermined thresholds are exceeded.