Blending algorithm for trajectory planning

Details Blending algorithm for trajectory planning Blending algorithm for trajectory planning

2011-07-12

2011-07-12

Nguyen, Kim T (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

Reexamination Certificate

active

07979158

ABSTRACT:
The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.

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