US 6,704,619 B1Granted

Method and system for universal guidance and control of automated machines

AssigneeAmerican GNC Corporation

InventorsNorm Coleman, Ching-Fang Lin

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Abstract

A system for universal guidance and control of automated machines incorporates with an IMU (Initial Measuring Unit) installed at an end effector of a motion element of an automated machine, fast-response feedback control for both position and angle servo-loops (for the end effector) greatly decreases the operational time needed to complete a preplanned trajectory. In addition, the closed-control loop design provides stabilization and isolation of the end effector from external disturbances. This unique navigation solution is based upon the uses of a set of equations performing an open loop computation with the inertial data as its input. This formulation of equations requires a periodic update of the open loop solution in order to bind the growth of system errors. The source of this update is the automated machine position measurement derived from the mechanical sensors in the system.

Claims51

Dependent claims

A system for universal guidance and control of an automated machine comprising a motion element having an end effector, wherein said system comprises:

an inertial sensor package, which is installed at said end effector of said motion element, sensing a motion and motion changes of said end effector and providing a motion measurement of said end effector through a navigation processing of said inertial sensor package to obtain measurement data;
a GPS receiver for providing GPS positioning measurements;
an AHRS/INS/GPS integration system receiving said motion measurement of said motion element and said GPS positioning measurements for imparting position and motion information;
an object detection system for ascertaining object presence;
an object tracking and guidance system processor receiving an information on a presence of objects of interest from said object detection system and a position and motion information from said AHRS/INS/GPS integration system to produce a guidance command as a command input to said central control processor;
a central control processor receiving said measurement data from said inertial sensor package, said position and motion information from said AHRS/INS/GPS integration system, and an output of said object tracking and guidance system processor, and comparing said measurement data with said command input to form error data which is received in said central control processor to produce a control signal in said central control processor;
and
a motion actuator receiving said control signal from said central control processor to control speed force outputs of said motion actuator and driving said end effector of said motion element by said motion actuator according to said control signal, wherein errors between said motion being measured and said command input converges to zero, so as to ensure said end effector of said motion element moves along a trajectory as said command input requires.

5 more elements

A method of universal guidance and control of an automated machine which comprises a motion element having an end effector, wherein said method comprises the steps of:

(a) sensing a motion and motion changes of said end effector of said motion element by an inertial sensor package installed at said end effector to form inertial measurement data;
(b) providing an accurate motion measurement of said end effector of said motion element through an AHRS/INS/GPS integration system by said inertial sensor package and a GPS receiver;
(c) sending said inertial measurement data from said inertial sensor package to a central control processor;
sending said accurate motion measurement from said AHRS/INS/GPS integration system to said central control processor, producing an object presence and position and motion information by an object detection system and an object tracking and guidance system processor to form a command input for said central control processor;
(d) receiving said inertial measurement data from said inertial sensor package by said central control processor;
receiving said accurate motion measurement from said AHRS/INS/GPS integration system, and receiving said object presence and position and motion information from said object detection system and said object tracking and guidance system processor by said central control processor;
(e) comparing said measurement data with said command input to form error data;
(f) receiving said error data in said central control processor;
(h) producing a control signal by using a controller algorithm in said central control processor;
(i) sending said control signal to a motion actuator to control speed and force outputs of motion actuator;
and
(j) driving said end effector of said motion element by said motion actuator according to said control signal, wherein an error between said measured motion and said command input of said motion actuator converges to zero, so as to ensure said end effector of said motion element moves along a trajectory as said command input requires.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 10/453,963Filed 3 Jun 2003 · us provisional application
Priority: 24 May 2003
Granted: 9 Mar 2004
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

G05D 1/0255
Specially adapted to land vehicles: using acoustic signals, e.g. ultra-sonic singals
G05D 1/0278
Using signals provided by a source external to the vehicle: using satellite positioning signals, e.g. GPS
G05B 2219/37388
Measurements: acceleration or deceleration, inertial measurement
G05B 2219/39259
Robotics, robotics to robotics hand: gPS to control robotic arm