US 2007/0075670 A1 · Apparatus and method for generating acceleration profile for controlling object using optimized waveform shaping

Abstract

A technique is disclosed for generating an acceleration profile indicative of a time history of an acceleration of a controlled object, to thereby generate at least one of a target velocity profile indicative of a time history of a target velocity of the controlled object and a target position profile indicative of a time history of a position of the controlled object. This technique includes: storing in a storage, a duration of a non-constant-velocity phase during which the target velocity of the controlled object varies with time; and generating the acceleration profile, based on the duration of the non-constant velocity phase stored in the storage, such that a portion of the acceleration profile which corresponds to the non-constant-velocity phase is generally curved.

Claims22

Dependent claims

An apparatus for generating an acceleration profile indicative of a time history of an acceleration of a controlled object, to thereby generate at least one of a target velocity profile indicative of a time history of a target velocity of the controlled object and a target position profile indicative of a time history of a position of the controlled object, the apparatus comprising:

a storage storing a duration of a non-constant-velocity phase during which the target velocity of the controlled object varies with time;
and
an acceleration profile generator generating the acceleration profile, based on the duration of the non-constant-velocity phase stored in the storage, such that a portion of the acceleration profile which corresponds to the non-constant-velocity phase is generally curved.

An apparatus for forming an image using a motion of a movable member, comprising:

an acceleration profile generator generating an acceleration profile indicative of a time history of an acceleration of the movable member, the acceleration profile being usable for generating a target velocity profile indicative of a time history of a target velocity of the movable member and a target position profile indicative of a time history of a target position of the movable member;
a target velocity profile generator generating the target velocity profile by integrating accelerations of the movable member occurring in accordance with the generated acceleration profile;
a target position profile generator generating the target position profile by integrating velocities of the movable member occurring in accordance with the generated target velocity profile;
a drive mechanism driving the movable member;
and
a controller controlling the drive mechanism, such that the generated target position profile and an actual position profile indicative of a time history of an actual position of the movable member become closer to each other,
wherein the acceleration profile generator generates the acceleration profile, such that a portion of the acceleration profile which corresponds to the non-constant-velocity phase is generally curved.

4 more elements

A method of generating an acceleration profile indicative of a time history of an acceleration of a controlled object, to thereby generate at least one of a target velocity profile indicative of a time history of a target velocity of the controlled object and a target position profile indicative of a time history of a position of the controlled object, the method comprising:

a first storing step of storing in a storage, a duration of a non-constant-velocity phase during which the target velocity of the controlled object varies with time;
and
an acceleration profile generating step of generating the acceleration profile, based on the duration of the non-constant-velocity phase stored in the storage, such that a portion of the acceleration profile which corresponds to the non-constant-velocity phase is generally curved.

Dependencies are inferred from the claim text.

Apparatus and method for generating acceleration profile for controlling object using optimized waveform shaping

Life of this patent

Apparatus and method for generating acceleration profile for controlling object using optimized waveform shaping

Life of this patent

Abstract

Claims22