{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-11498213","patent":{"patent_number":"US-11498213","title":"Robot joint space graph path planning and move execution","assignee":null,"inventors":[],"filing_date":"2020-09-23T00:00:00.000Z","publication_date":"2022-11-15T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","B25J","B25J","B25J","B25J","G05B"],"num_claims":22,"abstract":"A system includes a robot arm with multiple joints and one or more end effector to carry a substrate. A processing device determines, within joint space of the robot arm, start/end points of the one or more end effector for a complete movement. The processing device builds, in joint space for the multiple joints and the one or more end effector, a graph of reachable positions and sub-paths between the reachable positions that satisfy Cartesian limits. The reachable positions are identified at a granularity that divides the complete movement into multiple sub-movements. The processing device executes a graph optimization algorithm on the graph to determine multiple paths, each a group of the sub-paths, that have one of shortest distances or lowest costs between the start/end points, and selects a path thereof that minimizes move time of the one or more end effector between the start/end points."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Robot joint space graph path planning and move execution","description":"A system includes a robot arm with multiple joints and one or more end effector to carry a substrate. A processing device determines, within joint space of the robot arm, start/end points of the one o","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-11498213","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-11498213","citation_suggestion":"Patentable. \"Robot joint space graph path planning and move execution\" (US-11498213). https://patentable.app/patents/US-11498213","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-11498213","json":"https://patentable.app/api/llm-context/US-11498213","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-31T07:01:06.836Z"}