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US 5,394,323 AGranted
Path error control system
AssigneeThe University of British Columbia
InventorsIan Yellowley, Rudolf J. Seethaler
Life of this patent
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AssigneeThe University of British Columbia
InventorsIan Yellowley, Rudolf J. Seethaler
Estimating the term…
The desired path for each axis is predefined and converted to a first series of coarse position increments at time intervals. The coarse position increments are converted to a second series of spaced, (in time), fine position increments and expected values of velocity v. The latter parameters requiring splining and interpolation of values. The actual position of each axis is measured and compared with that required (by the fine series of position increments) to determine the resulting error E which is then compared with a calculated allowable error, e.sub.allowable calculated as a function of the then current planned velocity value v i.e. the planned value of velocity v corresponding to the current fine position increment and a signal is triggered when the actual error E exceeds the allowable error e.sub.allowable to prevent processing of the next increment in the second series of increments.
An axis interpolation and control system comprising, dividing a desired path of an axis into a series of time spaced position increments, defining a series of planned values v of velocity for said axis over time by interpolation of said position increments, determining the actual position of said axis along said path, comparing said determined actual position with a then current position increment of said desired path to define an actual position error E, determining an allowable error e.sub.allowable as a function of a then current planned velocity value v and planned steady state phase lag T.sub.p1, comparing said position error E with said allowable error e.sub.allowable and triggering a status signal to prevent upgrading said control system to the next time spaced position increment in said series when said position error E is larger than said allowable error e.sub.allowable.
Dependencies are inferred from the claim text.