US 12,697,723 B2

摘要

A method, a device and a computer program product determines a time-optimal trajectory before the start of movement for a movement of an industrial robot, predefined by movement parameters, on a path. The method includes dividing the path into one or more partial paths and carrying out a predetermined number of repetitions of the following steps: calculating a time-optimal trajectory for each of the partial paths, joining the time-optimal trajectories for all partial paths, checking whether predetermined limit values are not exceeded and whether the fastest movement has been found, and varying…

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