Elimination of unintended velocity reversals in s-curve velocity profiles
US7479751B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 29, 2007 |
| Grant date | Jan 20, 2009 |
| Priority date | — |
| Expiry date | Jul 20, 2027 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/49182
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method is employed to eliminate undesired velocity reversal in a motion profile. A start speed, a start acceleration, a speed limit, an acceleration limit, a deceleration limit, an acceleration jerk limit, and a deceleration jerk limit are programmed for the motion profile. A critical jerk value needed to avoid velocity reversal associated with the motion profile is calculated. The critical jerk value is compared to the programmed deceleration jerk limit. The larger of the critical jerk value and the programmed deceleration jerk limit is set as a computed maximum deceleration jerk limit for use with the motion profile. In this manner, the computed maximum deceleration jerk limit will never be lower than the critical jerk and undesired velocity reversal is eliminated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.