A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of end effector destinations, determines a robot base position, calculates a robot base path extending from the robot base position in accordance with the end effector destinations to allow continuous movement of the robot base along the robot base path in accordance with a defined robot base path velocity profile and uses the robot base path to cause the robot base to be moved along the robot base path in accordance with the robot base path velocity profile.
Robot base path planning
2025-07-08
Patent
Electronic Resource
English
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / E04B Allgemeine Baukonstruktionen , GENERAL BUILDING CONSTRUCTIONS / E04F FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS , Ausbau von Bauwerken, z.B. Treppen, Fußböden / E04G SCAFFOLDING , Baugerüste / B66C Krane , CRANES / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B25J Manipulatoren , MANIPULATORS / B28D Bearbeiten von Stein oder steinähnlichen Werkstoffen , WORKING STONE OR STONE-LIKE MATERIALS |