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US 2006/0190136 A1Published application
Method and system for controlling a manipulator
AssigneeParagon Technical Services, Inc.
InventorBradley Boyer
Life of this patent
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Abstract
A method of planning a path for a multi-axis machine. The method includes specifying kinematic limits for each axis of the multi-axis machine, breaking the path into a sequence of linear moves, and deriving a jerk pulse array for each axis for each move.
Claims20
A method of planning a path for a multi-axis machine, the method comprising:
- specifying kinematic limits for each axis of the multi-axis machine;
- breaking the path into a sequence of linear moves, each move within a three-dimensional space;
- and
- deriving a jerk pulse array for each axis for each move in the sequence of linear moves;
- wherein the jerk pulse array specifies a set of segments within each move.
2 more elements
A method of path planning comprising:
- specifying axis parameters for each axis of a multiple axis machine;
- specifying a closed path as a sequence of moves for the multiple axis machine;
- specifying, for each pair of adjacent moves, a move overlap percentage;
- aligning an acceleration profile for each axis for each move in the sequence of moves, the acceleration profile having an acceleration portion and a deceleration portion;
- and
- overlapping, for at least one axis, the deceleration portion of a first move in the sequence of moves with the acceleration portion of a next move following the first move based on the move overlap percentage for the first move and the next move.
3 more elements
A computer-readable medium storing a program executable by a computer for planning a path for a multi-axis machine, the medium comprising:
- a move stacking code segment for breaking the path into a sequence of linear moves;
- a jerk pulse code segment for generating a jerk pulse array having data for a set of segments that define each move;
- a move overlapping code segment for overlapping at least one move in the sequence of linear moves with a next move in the sequence of linear moves such that an acceleration of at least one axis in a next move occurs at the same time as deceleration of at least one axis in a previous move;
- a path normalization code segment for normalizing the sequence of linear moves;
- and
- a generating code segment for generating a final array of path points for each axis.
3 more elements
Dependencies are inferred from the claim text.