Method for minimum-time control of a robot on an assigned path in collaborative applications

Data di pubblicazione

17-12-2021

Codice

DEIB.20.078.A

Stato

Disponibile

Data di priorità

26-04-2021

Fase

Italian Patent Application process

Titolare

Politecnico di Milano

Dipartimento

Department of Electronics, Information and Bioengineering

Autori

Andrea Maria Zanchettin

Descrizione

The invention consists in a method to allow a robot manipulator to perform a motion along a specified operational path in the quickest way. The method accounts for physical limits in the actuator capacities (power, torque, or speed limits) while certifying the capability of the robot to stop on the assigned path without colliding with a human operator that is arbitrarily moving in the workspace.

Contatto

licensing.tto@polimi.it