公开(公告)号：US09895803B1

公开(公告)日：2018-02-20

申请号：US14744689

申请日：2015-06-19

Applicant: X Development LLC

Inventor： Kenneth Oslund

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  G05B2219/36504 ,  G05B2219/40476

Abstract: Methods, apparatus, systems, and computer-readable media are provided for calculating a trajectory corridor for a robot end effector. In some implementations, a seed path may be determined between first and second sites that is traversable by a reference point associated with an end effector of a robot. Then, a trajectory corridor may be calculated that encompasses and expands the seed path. In some implementations, a plurality of candidate paths may be determined through the trajectory corridor that are traversable by the reference point. In some implementations, a candidate path that satisfies a criterion may be selected.