View source for 20240017410. Robotic System Trajectory Planning simplified abstract (ABB Schweiz AG)

=Robotic System Trajectory Planning=


==Organization Name==

[[:Category:ABB Schweiz AG|ABB Schweiz AG]]


[[Category:ABB Schweiz AG]]

==Inventor(s)==

[[:Category:Nima Enayati of Mannheim (DE)|Nima Enayati of Mannheim (DE)]][[Category:Nima Enayati of Mannheim (DE)]]

[[:Category:Arne Wahrburg of Weiterstadt (DE)|Arne Wahrburg of Weiterstadt (DE)]][[Category:Arne Wahrburg of Weiterstadt (DE)]]

[[:Category:Debora Clever of Zwingenberg (DE)|Debora Clever of Zwingenberg (DE)]][[Category:Debora Clever of Zwingenberg (DE)]]

[[:Category:Mikael Norrl�f of Norrköping (SE)|Mikael Norrl�f of Norrköping (SE)]][[Category:Mikael Norrl�f of Norrköping (SE)]]

[[:Category:Giacomo Spampinato of Västerås (SE)|Giacomo Spampinato of Västerås (SE)]][[Category:Giacomo Spampinato of Västerås (SE)]]

[[:Category:Mattias Bj�rkman of Västerås (SE)|Mattias Bj�rkman of Västerås (SE)]][[Category:Mattias Bj�rkman of Västerås (SE)]]

==Robotic System Trajectory Planning - A simplified explanation of the abstract==


This abstract first appeared for US patent application 20240017410 titled 'Robotic System Trajectory Planning

==Simplified Explanation==

The abstract describes a method for trajectory planning in a robotic system with multiple robotic units. The method involves determining the motion of the robotic units from an initial state to a final state by minimizing a cost function. The cost function is based on the state vectors of all the robotic units and is minimized under a constraint that defines the difference between the position components of the state vectors at a specific instant of the trajectory.

* The method involves using state vectors to represent the position and velocity components of each robotic unit.
* The state vectors are variable with time and independent from input into other robotic units.
* A trajectory is determined by finding the one that minimizes a predetermined cost function.
* The cost function is a function of the state vectors of all the robotic units.
* The cost function is minimized under a constraint that defines the difference between the position components of the state vectors at a specific instant of the trajectory.

Potential Applications:
* This method can be applied in various robotic systems that involve multiple robotic units, such as multi-robot coordination, swarm robotics, and collaborative tasks.
* It can be used in industrial automation, where multiple robots need to work together to perform complex tasks efficiently.

Problems Solved:
* The method solves the problem of planning trajectories for multiple robotic units in a coordinated manner.
* It addresses the challenge of minimizing the cost function while considering the constraints imposed by the state vectors of all the robotic units.

Benefits:
* The method allows for efficient trajectory planning, optimizing the motion of multiple robotic units.
* It enables better coordination and synchronization between the robotic units, leading to improved performance and productivity.
* The method can potentially reduce the time and energy required for completing tasks by optimizing the trajectories of the robotic units.


==Original Abstract Submitted==

a method for trajectory planning in a robotic system comprising at least two robotic units includes a state vector of each robotic unit, which comprises position components and velocity components and is variable with time and independently from input into every other robotic unit. a trajectory defines the motion of said robotic units from an initial state to a final state and is determined by finding the trajectory that minimizes a predetermined cost function. the cost function is set to be a function of the state vectors of all robotic units, and is minimized under a constraint which defines a vector difference between at least the position components of the state vectors of said robotic units at an instant of said trajectory.



[[Category:B25J9/16]]