Adapting Move Constraints for Position Based Moves in a Trajectory Generator

A computer accessible memory medium storing program instructions for generating a trajectory for motion control, wherein the program instructions are executable to:

• receive specification of the trajectory, wherein said receiving the specification comprises receiving a geometry of the trajectory, wherein the geometry specifies a desired trajectory length;
• receive a plurality of constraints for the trajectory, wherein the plurality of constraints comprise one or more of a velocity, acceleration, or jerk constraint;
• generate a motion control profile based on the plurality of constraints;
• determine if a distance of the motion control profile exceeds the desired trajectory length;
• if the distance of the motion control profile exceeds the desired trajectory length:
• decrease one or more values of the plurality of constraints for the trajectory to make the distance of the motion control profile less than or equal to the desired trajectory length.

A system, comprising:

• a processor;
• and
• a memory medium storing program instructions for generating a trajectory for motion control, wherein the program instructions are executable by the processor to:
• receive specification of the trajectory, wherein said receiving the specification comprises receiving a geometry of the trajectory, wherein the geometry specifies a desired trajectory length;
• receive a plurality of constraints for the trajectory, wherein the plurality of constraints comprise one or more of a velocity, acceleration, or jerk constraint;
• generate a motion control profile based on the plurality of constraints;
• determine if a distance of the motion control profile exceeds the desired trajectory length;
• if the distance of the motion control profile exceeds the desired trajectory length:
• decrease one or more values of the plurality of constraints for the trajectory to make the distance of the motion control profile less than or equal to the desired trajectory length.