System and method for controlling redundant actuators with different dynamics
US10324446B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 2, 2017 |
| Grant date | Jun 18, 2019 |
| Priority date | — |
| Expiry date | Jul 29, 2037 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH03B9/00
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A laser processing system includes redundant actuators positioning a laser spot on a workpiece. The system determines a first trajectory of the first actuator minimizing motion of the first actuator that positions the second actuator such that each point of the reference trajectory is within a range of the second actuator and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory. For each axis of control, the system determines an envelope centered on the reference trajectory with a width not greater than the range of the second actuator and determines shortest trajectory traversing the envelope along the time domain to produce the first trajectory. Hence, the first trajectory includes a set of straight segments satisfying the constraints defined by the shape of the envelope. The system includes controllers for control the motion of redundant actuators.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.