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

Robotic System Trajectory Planning

Organization Name

ABB Schweiz AG

Inventor(s)

Nima Enayati of Mannheim (DE)

Arne Wahrburg of Weiterstadt (DE)

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)]]

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.