Abstract: A method for computing robot motion where the tool center point translational acceleration does not exceed a defined limit. Robot motion for an upcoming segment of a trajectory is computed using a known “S-curve” technique, where joint motions are calculated which move the robot from a start pose to an end pose in the shortest time given maximum joint velocity, acceleration and jerk values. Significant points on the S-curve are identified which correspond with maximum translational acceleration of the tool center point. Tool center point Cartesian motion is then calculated from the joint motions using forward kinematics. The maximum translational acceleration of the tool center point is determined and compared to the defined acceleration limit. If the maximum acceleration of the tool center point exceeds the acceleration limit, the joint motions for the trajectory segment are re-calculated using a scale factor which reduces the joint and tool center point accelerations.

Abstract: A method for computing robot motion where the tool center point translational acceleration does not exceed a defined limit. Robot motion for an upcoming segment of a trajectory is computed using a known “S-curve” technique, where joint motions are calculated which move the robot from a start pose to an end pose in the shortest time given maximum joint velocity, acceleration and jerk values. Significant points on the S-curve are identified which correspond with maximum translational acceleration of the tool center point. Tool center point Cartesian motion is then calculated from the joint motions using forward kinematics. The maximum translational acceleration of the tool center point is determined and compared to the defined acceleration limit. If the maximum acceleration of the tool center point exceeds the acceleration limit, the joint motions for the trajectory segment are re-calculated using a scale factor which reduces the joint and tool center point accelerations.