Patents
US 12690421 B2: Material-handling robot trajectory control
- Granted
- 2026-07-21
- Filed
- 2018-02-15 application 15897525
- Type
- Utility · 6 claims
- Elsewhere
- Google Patents ↗ · USPTO patent document ↗ · USPTO Patent Center record ↗
Abstract
A method including, based upon a desired path of a reference point from a start position to an end position, where the reference point is on an end effector on a robot arm, determine an included angle that corresponds to the start position and the end position, calculating a trajectory in radial coordinates of the reference point on the end effector at least partially based upon the included angles; calculating corresponding angular coordinates of the reference point on the end effector, based on the calculated radial coordinates, so that the reference point follows the desired path; using a modified formulation of inverse kinematics, converting the radial and angular coordinates supplemented with the included angles of the trajectory and corresponding angular velocity and acceleration of the end effector to form motion setpoints for the robot arm; and controlling the motors of the robot drive.
Source: PTBLXML, file of 2026-07-21 (ipgb20260721.xml).
Assignees
| Assignee | Type | Place | Also on furp.org | Source |
|---|---|---|---|---|
| Persimmon Technologies Corporation 119 patents | US company or organization | Wakefield, MA | PERSIMMON TECHNOLOGIES CORPORATION State business registration EXACT high confidence: identical full name and state Persimmon Technologies Corp Form D issuer FUZZY medium confidence: same name (legal endings aside) and state | PTBLXML, file of 2026-07-21 |
Inventors
| Inventor | Place | Patents | Person page | Source |
|---|---|---|---|---|
| Martin Hosek | Lowell, MA | 146 | PTBLXML, file of 2026-07-21 | |
| Scott Wilkas | Lexington, MA | 17 | PTBLXML, file of 2026-07-21 | |
| Jacob Lipcon | Arlington, MA | 8 | PTBLXML, file of 2026-07-21 |
CPC categories
| Subclass | Category | First group | Source |
|---|---|---|---|
| H10P | Generic processes or apparatus for the manufacture or treatment of devices covered by class h10 | H10P72/7602 | PTBLXML, file of 2026-07-21 |
| B25J | Manipulators; chambers provided with manipulation devices | B25J9/0021 | PTBLXML, file of 2026-07-21 |
| Y10S | Technical subjects covered by former uspc cross-reference art collections [xracs] and digests | Y10S901/02 | PTBLXML, file of 2026-07-21 |
Cooperative Patent Classification, as currently assigned (one row per subclass).
Assignments and security interests
| Recorded | What | From | To | Reel/frame | Source |
|---|---|---|---|---|---|
| 2018-04-16 | Assignment Assignment of assignor's interest | HOSEK, MARTIN signed 2018-04-03 WILKAS, SCOTT signed 2018-04-03 LIPCON, JACOB signed 2018-04-04 | PERSIMMON TECHNOLOGIES, CORP. WAKEFIELD, MA | 45548/965 | PASDL, file of 2026-08-13 |
Documents recorded with the USPTO Assignment Recordation Branch that list this patent. A security interest is a lender’s claim on the patent as collateral; a release ends it.
USPTO bulk data: PatentsView granted patents, disambiguated (PVGPATDIS) for patents, assignees, inventors, places and CPC categories; the USPTO Patent Assignment Dataset (ECORSEXC) for assignments and security interests. Patents filed in the last 20 years. No claims or full text. Links to other records are by name (and state): EXACT means the identical full name and state; FUZZY means a looser name match, with the confidence shown.