A method is disclosed for estimating a trajectory of an object on a map given a sequence of traces for the moving object. Each trace of the object including information defining a position measured at a given time for the object, as well as information as to an area of accuracy around the measured position. The method processes pairs of successive traces, corresponding to two positions successive in time in the sequence of measured positions for the moving object. For each trace of a pair of successive traces, the method defines road segments on the map within the area of accuracy of the trace. For each road segment within the area of accuracy of a first trace of a pair of traces and each road segment within the area of accuracy of the second trace of the pair, the method determines at least one candidate path between the two road segments. A neural network and a neural graph model are used to compute the most probable sequence of candidate paths to estimate the trajectory of the object on the map.

A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}.sub.ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}.sub.ref.sup.k−J{dot over (q)}.sub.ref.sup.k∥.sub.W.sub.x) between the target speed vector ({dot over (x)}.sub.ref) and an actual speed vector ({dot over (x)}.sub.act) calculated from actual rotation speeds of the joints; and ii) a rate of change $\left(\frac{1}{T_S}{.Math.{\stackrel{.}{q}}_{\mathrm{ref}}^k-{\stackrel{.}{q}}_{\mathrm{ref}}^{k-1}.Math.}_{W_a}\right)$
of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}.sub.ref) determined in step (b) as target rotation speeds of the joints.

A trajectory control device includes: a contact sensor that can contact side surfaces of a workpiece; an actuator that moves a trajectory tracking member and the contact sensor; and a trajectory controller that calculates XY coordinates of a trajectory on the workpiece that is placed in an arbitrary position, by transforming XY coordinates of the trajectory on the workpiece in a reference position, based on positional information about the side surfaces of the workpiece in the reference position and positional information about the side surfaces of the workpiece placed in the arbitrary position. The positional information about the side surfaces of the workpiece placed in the arbitrary position is obtained by the contact sensor.

A method is disclosed for estimating a trajectory of an object on a map given a sequence of traces for the moving object. Each trace of the object including information defining a position measured at a given time for the object, as well as information as to an area of accuracy around the measured position. The method processes pairs of successive traces, corresponding to two positions successive in time in the sequence of measured positions for the moving object. For each trace of a pair of successive traces, the method defines road segments on the map within the area of accuracy of the trace. For each road segment within the area of accuracy of a first trace of a pair of traces and each road segment within the area of accuracy of the second trace of the pair, the method determines at least one candidate path between the two road segments. A neural network and a neural graph model are used to compute the most probable sequence of candidate paths to estimate the trajectory of the object on the map.

A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}.sub.ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}.sub.ref.sup.k−J{dot over (q)}.sub.ref.sup.k∥.sub.W.sub.x) between the target speed vector ({dot over (x)}.sub.ref) and an actual speed vector ({dot over (x)}.sub.act) calculated from actual rotation speeds of the joints; and ii) a rate of change

[00001]$\left(\frac{1}{T_S}.Math.{.Math.{\stackrel{.}{q}}_{\mathrm{ref}}^k-{\stackrel{.}{q}}_{\mathrm{ref}}^{k-1}.Math.}_{W_a}\right)$

of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}.sub.ref) determined in step (b) as target rotation speeds of the joints.

A trajectory control device includes: a contact sensor that can contact side surfaces of a workpiece; an actuator that moves a trajectory tracking member and the contact sensor; and a trajectory controller that calculates XY coordinates of a trajectory on the workpiece that is placed in an arbitrary position, by transforming XY coordinates of the trajectory on the workpiece in a reference position, based on positional information about the side surfaces of the workpiece in the reference position and positional information about the side surfaces of the workpiece placed in the arbitrary position. The positional information about the side surfaces of the workpiece placed in the arbitrary position is obtained by the contact sensor.

A system and method for operating a robotic system to dynamically adjust a planned trajectory or a planned implementation thereof is disclosed. The robotic system may derive updated waypoints to replace planned waypoints of the planned trajectory for implementing a task. Using the updated waypoints, the robotic system may implement the task differently than initially planned according to the planned trajectory.

A welding system comprises a two manipulators and a controller. A first manipulator has a joint detection device and a first welding device, usually of the laser type while the second manipulator has a second welding device, usually of the arc weld type. The joint detection device is operative to read welding joint characteristics along a welding joint. The controller determines a corrected trajectory based on a predetermined welding trajectory and on the welding joint characteristics read by the joint detection device. This corrected trajectory is transmitted with a first time delay to the first manipulator and with a second time delay to the second manipulator. The second time delay is a function of a distance between the joint detection device and the second welding device. A corresponding method for welding components along a welding joint is also disclosed.

A system and method for operating a robotic system to dynamically adjust a planned trajectory or a planned implementation thereof is disclosed. The robotic system may derive updated waypoints to replace planned waypoints of the planned trajectory for implementing a task. Using the updated waypoints, the robotic system may implement the task differently than initially planned according to the planned trajectory.

Methods, apparatus, systems, and computer readable media are provided for generating a trajectory for a robot to enable a reference point of the robot to reach a target waypoint. A real time trajectory generator is utilized to generate a first segment of a trajectory toward a target waypoint. While the robot is traversing the first segment of the trajectory, a trajectory optimizer is utilized to generate a second segment of the trajectory from an end point of the first segment (an actual end of the first segment or a defined hand off point) until the target waypoint is reached (or until an intermediate waypoint is reached). The trajectory optimizer may utilize anticipated motion states of one or more actuators of the robot at the end point of the first segment in generating the second segment.