Device and Method for Moving an Object
AssigneeRobert Bosch GmbH
InventorWalrick Dirkx
Life of this patent
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Abstract
A device and method for the generation of a constraint-based, preferably time-optimal motion profile is presented. The device 100 comprises a control unit 102, said control unit 102 is configured to control a mechanical system 104, whereas an alike comprised set-point generator 101 delivers set points for the control unit 102. A moving average filter 111 is coupled to said generator 101. By application of the moving average filter 111 a piecewise constant set point profile changes into a piecewise linear profile. This has several positive effects as explained in the disclosure, while a moving object is driven via the mechanism.
Claims19
A device for moving an object using a first drive, the device comprising;
- a control unit with a first input and an output, the control unit being configured to control the first drive via the output;
- a generator having a first generator output;
- and
- a first filter coupled to the first generator output, the first filter means being configured to filter the first generator output, the first generator output being a set point profile, the set point profile including set points as a function of time for the control unit.
A method for moving an object, comprising:
- receiving at least one motion constraint;
- receiving at least one target motion value indicating a target motion state for the object;
- calculating a motion profile based on the at least one motion constraint and based on the at least one target motion value;
- filtering the motion profile;
- using the filtered motion profile as a set point profile;
- and
- controlling a movement of the object based on the set point profile.
A non-transitory computer-readable medium having stored thereon computer-executable instructions that, in response to being executed on a computer, cause the computer to perform operations for moving an object comprising:
- receiving at least one motion constraint;
- receiving at least one target motion value indicating a target motion state for the object;
- calculating a motion profile based on the at least one motion constraint and based on the at least one target motion value;
- filtering the motion profile;
- using the filtered motion profile as a set point profile;
- and
- controlling a movement of the object based on the set point profile.
Dependencies are inferred from the claim text.