Method and device for generating an input command for a motion control system
AssigneeFANUC Robotics North America, Inc.
InventorsSai-Kai Cheng, H. Dean McGee, Chi-Ken Tsai, Hadi A. Akeel
Life of this patent
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Abstract
A method and device of achieving motion cycle time reduction that takes motor capabilities, load inertia and gravity into account and, at the same time, produces acceptable tool tip vibration upon stopping. This cycle time reduction is especially applicable to short motions of a robot where the entire motion consists of acceleration and deceleration and there is no constant velocity region. The method and device provide open loop limiting factors for axis jerk, acceleration and velocity, taking into account robot position, payload and inertia.
Claims26
A method for generating an input command for a motion control system, the system including a servo amplifier, a servo motor having motor parameters defining operating limits for torque and velocity and a feedback loop, the servo motor moving a load having a starting inertia at a starting position and a destination inertia at a destination position as seen by the servo motor due to load position and gravity, the method comprising the steps of:
- storing the motor parameters in memory;
- and
- calculating an entire third order position profile as a function of the starting and destination positions and inertias motion planning wherein the servo motor parameters include motor torque/velocity for acceleration and deceleration and wherein the step of calculating includes the step of a) defining motor torque/velocity equations for defining limits of motor torque/velocity.
A device for generating an input command for a motion control system, the system including a servo amplifier, a servo motor having motor parameters defining operating limits for torque and velocity and a feedback loop, the servo motor moving a load having a starting inertia at a starting position and a destination inertia at a destination position as seen by the servo motor due to load position and gravity, the device comprising:
- means for storing the motor parameters;
- and
- means for calculating an entire third order position profile as a function of the starting and destination positions and inertias and the motor parameters outside of the feedback loop during motion planning wherein the servo motor parameters include motor torque/velocity for acceleration and deceleration and wherein the means for calculating includes means for defining motor torque/velocity equations for defining limits of motor torque/velocity.
Dependencies are inferred from the claim text.