Method for the determination of a rough trajectory to be followed in a positionally guided manner

US8060239B2 · kind B2 · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Walter Hoffmann · Bischofswerda, DE
• Wolfgang Papiernik · Neunkirchen, DE
• Tomas Sauer · Feucht, DE

Key dates

• Filing date: Dec 1, 2006
• Grant date: Nov 15, 2011
• Expiry date: Feb 22, 2029

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/42225
• WIPO field: Control
• WIPO sector: Instruments

Abstract

According to the invention, an initial trajectory (2) that is to be followed in a positionally guided manner is input into a computer (15), said initial trajectory (2) being described by an initial function (AF) such that one respective corresponding position (pA) is determined on the initial trajectory (2) by substituting a scalar trajectory parameter (s) into the initial function (AF). The scalar trajectory parameter (s) is different from time (t) while being characteristic of a distance (s) covered along the initial trajectory (2). The computer (15) filters the initial trajectory (2) with low-pass characteristics referring to the scalar trajectory parameter (s) as a function of the scalar trajectory parameter (s) and thus determines a rough function (GF) such that one respective corresponding position (pG) is determined on the rough trajectory (13) by substituting the scalar trajectory parameter (s) into the rough function (GF). The computer (15) determines the rough function (GF) in such a way that the distance of the rough trajectory (13) from the initial trajectory (2) always lies below a predetermined threshold (S) regardless of the value of the scalar trajectory parameter (…