Offline computation and caching of precalculated joint trajectories
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United States of America Patent
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Mar 16, 2021
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app pub date -
Nov 30, 2018
filing date -
Nov 30, 2018
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Abstract
Implementations are described herein for offline computation and caching of precalculated joint trajectories. In various implementations, an instruction may be obtained to move an end effector of a robot between start and target positions. A first type of trajectory planning may be performed in real time or “online” to calculate a first joint trajectory of the robot that moves the end effector from the start to target position. The robot may then implement the first joint trajectory. A second type of trajectory planning may be performed offline, e.g., during downtime of the robot, to precalculate a second joint trajectory of the robot to move the end effector from the start to target position. The second type of trajectory planning may require more resources than were required by the first type of trajectory planning. Data indicative of the precalculated second joint trajectory of the robot may be stored for future use.
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