Method and system for computing reference signals for machines with redundant positioning
US9696709B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 21, 2014 |
| Grant date | Jul 4, 2017 |
| Priority date | — |
| Expiry date | Jan 18, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50047
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method computes reference signals for a machine with redundant positioning by first generating a reference trajectory according to an ordered list of points. Then, using a filter or by choosing the value of the reference at each sampling time, a reference trajectory for the slow subsystem is produced. Next, determine whether the reference trajectory and the slow subsystem reference trajectory violate feasibility constraints, and if true, slowing down the reference trajectory and repeating with the generation of the slow subsystem reference trajectory. The slow subsystem reference trajectory is sent, via a model predictive control block, to a slow positioning subsystem controller, and a combination of the slow subsystem reference trajectory and the reference trajectory is sent to a fast positioning subsystem controller.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.