Method for Controlling Redundantly Actuated Machines for Cutting a Pattern of Disconnected Contours
AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorsTyler Garaas, Sohrab Haghighat
Life of this patent
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Abstract
A method controls a machine with redundant actuators according to pattern of disconnected contours, wherein the machine includes redundant actuators by first generating a set of initial trajectories from the pattern. Each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour. A set of costs for the set of initial trajectories is determined. A sequence of final trajectories is determined based on the set of costs. Then, a set of commands is generated for controlling the machine according to the sequence of final trajectories.
Claims18
A method for controlling a machine according to pattern of disconnected contours, wherein the machine includes redundant actuators, comprising:
- generating a set of initial trajectories from the pattern, wherein each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour;
- determining a set of costs for the set of initial trajectories;
- determining a sequence of final trajectories based on the set of costs;
- determining a set of commands for controlling the machine according to the sequence of final trajectories, wherein the steps are performed in a processor.
A system for controlling a machine according to pattern of disconnected contours, comprising:
- a fast and slow actuator;
- a processor generating a set of initial trajectories from the pattern, wherein each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour;
- determining a set of costs for the set of initial trajectories;
- determining a sequence of final trajectories based on the set of costs;
- determining a set of commands for controlling the machine according to the sequence of final trajectories.
Dependencies are inferred from the claim text.