公开(公告)号：US20170193137A1

公开(公告)日：2017-07-06

申请号：US14983645

申请日：2015-12-30

Applicant: ABB TECHNOLOGY LTD

Inventor： XIONGZI LI ,  STEINAR RIVELAND ,  OYVIND A. LANDSNES ,  CHRISTOFFER APNESETH ,  MASAO HARA

IPC: G06F17/50 ,  G06F17/16

CPC classification number: G06F17/5009 ,  B25J9/1664 ,  G06F17/16

Abstract: A simulation system to determine an optimal trajectory path for a robot with an attached implement includes a trajectory simulator which provides a simulated trajectory path for an implement, an implement model database which comprises motion data of the implement, and a logger that associates a time stamp of the implement's motion during the simulated trajectory path to generate logger data. A profile is determined by the logger data received from the logger which identifies implement motion that exceeds predetermined thresholds, and a tuner adjusts the simulated trajectory path so as to reduce the number of times predetermined thresholds are exceeded.