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METHOD AND SYSTEM FOR THE PATH PLANNING OF A REDUNDANT ROBOT
METHOD AND SYSTEM FOR THE PATH PLANNING OF A REDUNDANT ROBOT
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机译:冗余机器人路径规划的方法和系统
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摘要
The invention relates to a method according to the invention for the at least partially automated path planning of a multi-axial robot (1) comprising the step of resolving (S20, S40, S50) a redundancy of the robot with respect to a path (B) specified in a workspace of the robot in such a way that a mixed quality criterion, which comprises an effective mass of the robot and a magnitude of a minimum collision force of the robot that can be detected on the basis of specified detection limit values for axial forces of the robot, is minimal.
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