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US 2025/0144797 A1Published application
Fast settling for robotic motion control
AssigneeFanuc America Corporation
InventorsMatthew DeNio, Yi Sun, Joseph Hoffman
Life of this patent
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AssigneeFanuc America Corporation
InventorsMatthew DeNio, Yi Sun, Joseph Hoffman
Estimating the term…
A system and method for controlling movement of a robot holding a tool from an end of one tool operation to a beginning of a next tool operation that reduces tool jerk and thus reduces the robot stabilization time. The method includes separating the robot movement into a plurality of segments that have different robot movement accelerations, determining an acceleration of the robot for each segment that optimizes a cycle time of the robot movement, and reducing the optimal acceleration of the robot during a last segment so as to reduce tool jerk when the robot reaches the beginning of the next tool operation. In one non-limiting embodiment, the tool is a laser cutting tool and the number of segments is seven segments.
A method for controlling movement of a robot holding a tool from an end of one tool operation to a beginning of a next tool operation, said method comprising:
A method for controlling movement of a robot holding a laser cutting tool from an end of one tool operation to a beginning of a next tool operation, said method comprising:
A system for controlling movement of a robot holding a tool from an end of one tool operation to a beginning of a next tool operation, said system comprising a controller configured to separate the movement of the robot from the end of the one tool operation to the beginning of the next tool operation into a plurality of robot movement segments that have different robot movement accelerations, wherein one of the robot movement segments is a last robot movement segment just before the beginning of the next tool operation, determine an optimal acceleration of the robot for each robot movement segment that optimizes a cycle time of the robot movement in each robot movement segment, wherein the optimized cycle time is a predetermined maximum time, and reduce the optimal acceleration of the robot during the last robot movement segment to a less than optimal acceleration so as to reduce tool jerk when the robot reaches the beginning of the next tool operation.
Dependencies are inferred from the claim text.