Method and system for meeting end conditions in a motion control system
AssigneeGE Intelligent Platforms, Inc.
InventorsDaniel H. Miller, William Lindsay Morrison
Life of this patent
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Abstract
One embodiment of a system and method for meeting end conditions of a path plan utilizing a path generator that continuously generates commands for a path plan while tracking the total time expired in the path plan. The path generator computes the time remaining in the path plan and substitutes the remaining time for the length of the final sample period in the path plan when the length of the remaining time is less than the length of a full sample period.
Claims7
A method for meeting end conditions of a path plan, the method utilizing a path generator, the method comprising:
- outputting control commands from the path generator for the movement on a path plan;
- computing time remaining to complete the movement on said path plan;
- determining whether remaining time is less than the length of a sample period;
- and
- substituting said remaining time for length of sample period when remaining time is less than sample period.
A method for meeting end conditions of a path plan, the method utilizing a path generator, the method comprising:
- outputting control commands from the path generator for the movement on a path plan;
- computing time remaining to complete the movement on said path plan;
- determining whether remaining time is less than the length of a sample period;
- calculating end values by substituting said remaining time for length of sample period when remaining time is less than sample period;
- and
- checking said end values against the final end conditions of the move.
A system for meeting end conditions of a path plan comprising:
- a path generator for generating commands for a path plan;
- computing time remaining to complete a movement on said path plan;
- determining whether remaining time is less than the length of a sample period;
- and
- substituting said remaining time for length of sample period when of remaining time is less than sample period.
A system for meeting end conditions of a path plan comprising:
- a path generator for generating commands for a path plan;
- computing time remaining to complete the movement on said path plan;
- determining whether remaining time is less than the length of a sample period;
- calculating end values by substituting said remaining time for length of sample period when remaining time is less than sample period;
- and
- checking said end values against the final end conditions of the move.
A microprocessor for meeting end conditions of a path plan comprising:
- a path generator for generating commands for a path plan configured to compute remaining time to complete a movement on said path plan;
- determine whether remaining time is less than the length of a sample period;
- and
- substitute said remaining time for length of the sample period when of remaining time is less than the sample period.
Dependencies are inferred from the claim text.