1. A method of automatic path planning for at least one robot within a confined configuration space, the robot including an arm having a plurality of joints and an end effector coupled to the arm, said method comprising using a robot control system to:
receive a plurality of process points, each process point being a location wherein the arm is to be positioned to perform a task;
calculate one or more inverse kinematic solutions for each process point;
cluster the inverse kinematic solutions into a set of clusters; and
generate collision free paths between the clusters in the confined configuration space.
2. The method of claim 1, further comprising using the robot control system to:
remove redundant clusters in the set of clusters; and
generate collision free paths between the remaining clusters in the confined configuration space.
3. The method of claim 2, further comprising using the robot control system to:
generate a connectivity graph using the remaining clusters; and
generate a traversal solution using the connectivity graph.
4. The method of claim 1, further comprising using the robot control system to designate a node with a greatest number of direct neighbors as an entry node for the cluster.
5. The method of claim 1, further comprising using the robot control system to generate a traversal solution of the joints that represent motion of the end effector in a specific direction.
6. The method of claim 1, further comprising using the robot control system to:
identify the process points along a row of the process points,
calculate one or more target configurations for a process point at the end of the row, and
generate a plurality of target configurations for the remaining process points along the row by calculating the straight line motion of the end-effector using a pseudo-inverse of a Jacobian.
7. The method of claim 1, wherein using the robot control system to calculate one or more inverse kinematic solutions comprises using the robot control system to develop mechanical models for joint angles and joint arms for the one or more robots based on a dimensionality of and number of joints of the joint arms for the one or more robots.
8. A robot control system comprising;
a robot including an arm having a plurality of joints and an end effector coupled to the arm;
a robot controller coupled to the robot and configured to reposition the robot in a plurality of positions; and
a computer for performing automatic path planning for the robot, said computer configured to:
receive a plurality of process points, each process point being a location wherein the arm is to be positioned to perform a task;
calculate one or more inverse kinematic solutions for each process point;
cluster the inverse kinematic solutions into a set of clusters; and
generate collision free paths between the clusters in the confined configuration space.
9. The robot control system of claim 8, wherein said computer is further programmed to:
remove redundant clusters in the set of clusters; and
generate collision free paths between the remaining clusters in the confined configuration space.
10. The robot control system of claim 8, wherein said computer is further programmed to:
generate a connectivity graph using the remaining clusters; and
generate a traversal solution using the connectivity graph.
11. The robot control system of claim 8, wherein said computer is further programmed to designate a node with a greatest number of direct neighbors as an entry node for the cluster.
12. The robot control system of claim 8, wherein said computer is further programmed to generate a traversal solution of the joints that represent motion of the end effector in a specific direction.
13. The robot control system of claim 8, wherein said computer is further programmed to:
identify the process points along a row of the process points,
calculate one or more target configurations for a process point at the end of the row, and
generate a plurality of target configurations for the remaining process points along the row by calculating the straight line motion of the end-effector using a pseudo-inverse of a Jacobian.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A liquid crystal display device, comprising:
gate lines and data lines crossing each other to define RGBW sub-pixels on a first substrate;
a thin film transistor formed at each crossing of the gate and data lines;
a first common electrode formed in each region of the RGBW sub-pixels;
a pixel electrode connected to the thin film transistor and insulated from the first common electrode in each region of the RGBW sub-pixels, the pixel electrode having at least one slit;
a second substrate attached to the first substrate, wherein the first and second substrates face each other with a liquid crystal layer interposed therebetween; and
a second common electrode formed on the second substrate in only each W sub-pixel for controlling viewing angle,
wherein the W sub-pixel is driven in the same electric field as a first electric field of the RGB sub-pixels in a wide viewing angle mode, while the W sub-pixel is driven in a second electric field different from the first electric field of the RGB sub-pixels in a narrow viewing angle mode.
2. The LCD device according to claim 1, further comprising:
RGB-color filter layers corresponding to the RGB sub-pixels on the second substrate, respectively; and
an overcoat layer on an overall surface of the second substrate including the RGB-color filter layers between the second common electrode and the RGB-color filter layers,
wherein a color filter layer is not formed in the W sub-pixel.
3. The LCD device according to claim 1, wherein, in the wide viewing angle mode, the first electric field is a fringe field created between the pixel electrode and the first common electrode in each of the RGBW sub-pixels and the liquid crystal layer in each of the RGBW sub-pixels is driven in an FFS mode.
4. The LCD device according to claim 3, wherein the second common electrode is not supplied with a voltage, or is supplied with a same voltage as that applied to the first common electrode.
5. The LCD device according to claim 1, wherein, in the narrow viewing angle mode, the second electric filed is a vertical electric field formed between the first common electrode of the W sub-pixel and the second common electrode, and prevents light from passing through the W sub-pixel, and the first electric field is a fringe field formed between the pixel electrode and the first common electrode in each of the RGB sub-pixels.
6. The LCD device according to claim 5, wherein the pixel electrode of the W sub-pixel is supplied with a same voltage as the voltage applied to the first common electrode, or supplied with a voltage less than a threshold voltage.
7. The LCD device according to claim 5, wherein the second common electrode of the W sub-pixel is supplied with a constant voltage to generate a voltage difference between the first common electrode and the second common electrode.
8. The LCD device according to claim 7, wherein the voltage difference between the first common electrode and the second common electrode of the W sub-pixel is about 1-4 V or about \u22124-\u22121 V so as to create a vertical electric field therebetween.
9. The LCD device according to claim 7, wherein the voltage applied to the second common electrode is DC or AC voltage.
10. The LCD device according to claim 5, wherein in the narrow viewing angle mode, the liquid crystal layer in the RGB sub-pixels is driven in an FFS mode, and the liquid crystal layer in the W sub-pixel is tilted in a vertical direction.
11. The LCD device according to claim 1, further comprising:
an orientation film inside the first and second substrates; and
upper and lower polarization plate attached to outer surfaces of the first and second substrates.
12. The LCD device according to claim 11, wherein the orientation film is orientated in a same direction as that of a polarization axis of one of the upper and lower polarization plates.
13. The LCD device according to claim 1, wherein the RGBW sub-pixels are disposed in a quad type or a stripe type configuration.
14. The LCD device according to claim 1, wherein the at least one slit of the pixel electrode is disposed in a same direction as that of the gate lines or the data lines.
15. The LCD device according to claim 1, wherein the pixel electrode, the first common electrode, and the second common electrode are transparent conductive layers.
16. The LCD device according to claim 1, wherein the second common electrodes are connected to each other and supplied with a voltage from the first substrate via silver dots.