Blending algorithm for trajectory planning
AssigneeRockwell Automation Technologies, Inc.
InventorsBohumir Sladek, Jatin P. Bhatt, William C. Schwarz, Bhanu K. Gouda
Life of this patent
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Abstract
The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.
Claims13
A method for generating a motion system trajectory of an automated motion device with a processor having programming instructions stored on a computer readable medium for executing the method, comprising:
- specifying a trajectory as a sequence of path segments;
- calculating a velocity profile for each of the path segments;
- dividing each velocity profile into a blend-in region, a blend-out region and a remainder region;
- and
- executing each path segment by the automated motion device such that the blend-in region of its velocity profile overlaps only with the blend-out region of a previous velocity profile.
A method for generating a motion system trajectory of an automated motion device, said method comprising:
- specifying a trajectory as a sequence of path segments;
- calculating a velocity profile for each of the path segments;
- dividing each velocity profile into a blend-in region, a blend-out region and a remainder region;
- and
- moving said automated motion device in accordance with each of said path segments by executing each path segment in the automated motion device such that the blend-in region of its velocity profile overlaps only with the blend-out region of a previous velocity profile.
Dependencies are inferred from the claim text.