公开(公告)号：US20240217103A1

公开(公告)日：2024-07-04

申请号：US18146079

申请日：2022-12-23

Applicant: Intel Corporation

Inventor： David Gomez Gutierrez ,  Leobardo Campos Macias ,  Christopher Cruz Ancona ,  Rafael De La Guardia Gonzalez ,  Javier Felip Leon

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  G05B2219/39001 ,  G05B2219/40629

Abstract: Techniques are disclosed for a trajectory planning of robots, such as collaborative robots (cobots). A controller of a robot may include a path planner, a trajectory generator, and a trajectory controller. The path planner may determine a plurality of waypoints defining a path between an initial pose of the robot and a goal pose of the robot. The trajectory generator may determine a trajectory between the initial pose and the goal pose based on the waypoints and one or more trajectory criterion. The trajectory controller may generate a control signal to control the robot based on the determined trajectory.