Method and device for generating an input command for a motion control system
US5331264A · kind A · utility
58Cited by
17References
26Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Apr 15, 1993 |
| Grant date | Jul 19, 1994 |
| Priority date | — |
| Expiry date | Apr 15, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45104
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and device of achieving motion cycle time reduction that takes motor capabilities, load inertia and gravity into account and, at the same time, produces acceptable tool tip vibration upon stopping. This cycle time reduction is especially applicable to short motions of a robot where the entire motion consists of acceleration and deceleration and there is no constant velocity region. The method and device provide open loop limiting factors for axis jerk, acceleration and velocity, taking into account robot position, payload and inertia.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.