Method for optimizing motion profiles, computer program product, control device and installation or robot

A non-transitory computer program product encoded with a computer program which, when executed on a computation unit, causes optimization of a motion profile, the computer program comprising:

• S1) program code for defining the areas by a plurality of interpolation points;
• S2) program code for defining constraints of a respective slave motion profile;
• S3) program code for distributing the plurality of interpolation points over a respective definition area of a master/slave motion profile;
• S4) program code for determining a respective maximum speed of a master motion profile in an event of compliance with the constraints in the respective area;
• S5) program code for determining an area having a highest maximum speed of the master motion profile;
• S6) program code for determining an area having a lowest maximum speed of the master motion profile;
• S7) program code for checking whether a difference between the highest maximum speed and the lowest maximum speed is greater or less than a tolerance;
• S8) program code for shifting the plurality of interpolation points toward one another to reduce the area having the highest maximum speed if the difference is greater than the tolerance;
• and
• S9) program code for shifting the plurality of interpolation points away from one another to enlarge the area having the lowest maximum speed if the difference is greater than the tolerance;
• S10) program code for performing steps (S4), (S5), (S6) and (S7) with the reduced and enlarged areas;
• and
• S11) program code for providing the respective master/slave motion profile as an optimized motion profile if the difference is less than or equal to the tolerance.

A control device for controlling at least one master drive and at least one slave drive, comprising:

• a computation unit;
• and
• memory;
• wherein the control device being configured to control or regulate drives after provision of motion profiles;
• wherein the computation unit of the control device having a non-transitory computer program product encoded with a computer program which, when executed on the computation unit, causes optimization of a motion profile, the computer program comprising:
• S1) program code for defining the areas by a plurality of interpolation points;
• S2) program code for defining the constraints of the respective slave motion profile;
• S3) program code for distributing the plurality of interpolation points over the respective definition area of a master/slave motion profile;
• S4) program code for determining a respective maximum speed of the master motion profile in an event of compliance with the constraints in the respective area;
• S5) program code for determining an area having a highest maximum speed of the master motion profile;
• S6) program code for determining an area having a lowest maximum speed of the master motion profile;
• S7) program code for checking whether a difference between the highest maximum speed and the lowest maximum speed is greater or less than a tolerance;
• S8) program code for shifting the plurality of interpolation points toward one another to reduce the area having the highest maximum speed if the difference is greater than the tolerance;
• and
• S9) program code for shifting the plurality of interpolation points away from one another to enlarge the area having the lowest maximum speed if the difference is greater than the tolerance;
• S10) program code for performing steps (S4), (S5), (S6) and (S7) with the reduced and enlarged areas;
• and
• S11) program code for providing the respective master/slave motion profile as an optimized motion profile if the difference is less than or equal to the tolerance.