US Patent Issued to Persimmon Technologies on July 21 for "Material-handling robot trajectory control" (Massachusetts Inventors)

ALEXANDRIA, Va., July 21 -- United States Patent no. 12,690,421, issued on July 21, was assigned to Persimmon Technologies Corp. (Wakefield, Mass.).

"Material-handling robot trajectory control" was invented by Martin Hosek (Lowell, Mass.), Scott Wilkas (Lexington, Mass.) and Jacob Lipcon (Arlington, Mass.).

According to the abstract* released by the U.S. Patent & Trademark Office: "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 pa...