System and method for jerk limited trajectory planning for a path planner
US7919940B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 21, 2007 |
| Grant date | Apr 5, 2011 |
| Priority date | — |
| Expiry date | Feb 23, 2029 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S388/904
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase includes monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control of the move in progress to reach a target position. The system further includes at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.