Method for generating trajectories for motor controlled actuators
US8700190B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 5, 2011 |
| Grant date | Apr 15, 2014 |
| Priority date | — |
| Expiry date | Jul 9, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40465
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method generates trajectories for motor controlled actuators subject to dynamics, acceleration and velocity constraints. The method solves a constrained optimal control problem with dynamics, acceleration, and velocity constraints. The motor control problem is formulated as an optimal control problem using an energy cost function which is based on numerical optimization results. A solution to the two-point boundary value problem (TBVP) for the unconstrained case of the optimal control problem is obtained. The energy efficient motor control trajectory generation solver is designed for real time energy efficient trajectory generation. The solver converts a difficult multi-point boundary value problem (MBVP) associated with the state and acceleration constrained optimal control problem into an iterative solution for the TBVPs with updated boundary conditions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.