Method for operating a motion control system and motion control system operating according to the method as well as computer program for implementing the method
AssigneeSiemens Aktiengesellschaft
InventorsDaniel Geweth, Dirk Mattil, Björn Seelinger
Life of this patent
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Abstract
A motion control system operating a machine as well as a method operating a machine scale a motion path section-by-section by using a C2-consistent scaling function.
Claims12
A method for operating a motion control system of a machine having coupled master and slave axes, comprising:
- selecting a section of an existing motion path of the machine to be scaled;
- scaling the selected motion path section by using a C2-continuous scaling function;
- determining with a spline algorithm corner points of a polygon which include the C2-continuous scaling function and determine a course of the C2-continuous scaling function, with the corner points ensuring a monotonic course of the C2-continuous scaling function and a homogeneous curvature distribution along the C2-continuous scaling function;
- and
- operating the motion control system of the machine based on the scaling of the motion path.
A computer program comprising program code stored on a non-transitory storage device, wherein the computer program when executed on a control device of a motion control system of a machine having coupled master and slave axes, selects a section of an existing motion path of the machine to be scaled, scales the selected motion path section by using a C2-continuous scaling function, determines with a spline algorithm corner points of a polygon which include the C2-continuous scaling function and determine a course of the C2-continuous scaling function, with the corner points ensuring a monotonic course of the C2-continuous scaling function and a homogeneous curvature distribution along the C2-continuous scaling function;
- and operates the motion control system of the machine based on the scaling of the motion path.
A computer program product comprising program code stored on a non-transitory computer-readable data carrier, wherein the computer program when executed on a control device of a motion control system of a machine having coupled master and slave axes, selects a section of an existing motion path of the machine to be scaled, scales the selected motion path section by using a C2-continuous, determines with a spline algorithm corner points of a polygon which include the C2-continuous scaling function and determine a course of the C2-continuous scaling function, with the corner points ensuring a monotonic course of the C2-continuous scaling function and a homogeneous curvature distribution along the C2-continuous scaling function;
- and operates the motion control system of the machine based on the scaling of the motion path.
A motion control system of a machine having coupled master and slave axes, comprising a processing unit and a memory, wherein a computer program when loaded into the memory and executed on the processing unit, causes the processing unit of the motion control system to select a section of an existing motion path of the machine to be scaled, scale the selected motion path section by using a C2-continuous scaling function, determines with a spline algorithm corner points of a polygon which include the C2-continuous scaling function and determine a course of the C2-continuous scaling function, with the corner points ensuring a monotonic course of the C2-continuous scaling function and a homogeneous curvature distribution along the C2-continuous scaling function;
- and operate the motion control system of the machine based on the scaling of the motion path.
Dependencies are inferred from the claim text.