US 8,024,061 B2Granted

Method and device to generate position profile in motion controller

AssigneeSamsung Electronics Co., Ltd.

InventorJung Ik Ha

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Abstract

A method of and apparatus to generate a position profile using lower-order polynomials. The device includes a pattern coefficient generator to generate pattern and time coefficients of a position pattern that is classified by velocity change, a contour generator to generate a pattern polynomial to define a contour of each section of the position pattern using the generated pattern and time coefficients, and a dual filter for generating a position profile by selectively activating one of a plurality of filters, which receive the pattern polynomial generated by the contour generator. The device uses lower-order polynomials and a small number of coefficients, thereby reducing the number of calculations required in the procedure to generate the position profile. The device generates a seamless and smooth position profile by preventing switching errors due to the difference between filter sizes.

Claims17

Dependent claims

A device to generate a position profile in a motion controller, the device comprising:

a pattern coefficient generator to generate pattern and time coefficients of a position pattern, the position pattern being classified by velocity change;
a contour generator to generate a pattern polynomial to define a contour of each section of the position pattern using the pattern and time coefficients generated by the pattern coefficient generator;
and
a dual filter to generate a position profile by selectively activating one of a plurality of filters, which receive the pattern polynomial generated by the contour generator,
wherein the dual filter comprises an acceleration filter and a deceleration filter,
wherein the filter having the relatively large filter size is designed as expressed by the following equation 1 and the filter having the relatively small filter size is designed as expressed by the following equation 2:
y
1
⁡
[
n
]
=
1
ma
⁢
⁢
∑
i
=
n
-
ma
+
1
n
⁢
x
⁡
[
i
]
(
Equation
⁢
⁢
1
)
y
2
⁡
[
n
]
=
1
mi
⁢
⁢
∑
i
=
n
-
ma
+
d
/
2
+
1
n
-
d
/
2
⁢
x
⁡
[
i
]
(
Equation
⁢
⁢
2
)
where “y1[n]” denotes a filter having a relatively large filter size, “y2[n]” denotes a filter having a relatively small filter size, “ma” and “mi” denote the larger of two integer values “na” and “nd”, “d” denotes the absolute value of (na−nd), “na” denotes the integer value of (Tra/Ts), “nd” denotes the integer value of (Trd/Ts), “Ts” denotes sampling time, “Tra” denotes the size of the acceleration filter and is expressed by (Acc/Jerk), “Trd” denotes the size of the deceleration filter and is expressed by (Dec/Jerk), “Jerk” denotes the magnitude of jerk, “Acc” denotes acceleration, and “Dec” denotes deceleration,
wherein the acceleration filter is used to filter a pattern polynomial corresponding to an acceleration section of the position pattern, and the deceleration filter is used to filter a pattern polynomial corresponding to a deceleration section thereof,
wherein if the acceleration and deceleration filters have different filter sizes, switching timing of one of the acceleration and deceleration filters, which has a relatively small filter size, is shifted in time with respect to switching timing of the other filter, which has a relatively large filter size, in order to prevent a switching error from occurring when the acceleration and deceleration filters are switched, and
wherein the position profile controls a servomotor as a drive source to move each joint of an industrial articulated robot by determining work pattern and time.

79 more elements

A method of generating a position profile in a motion controller, the method comprising:

selecting one of a plurality of position patterns produced based on velocity change;
generating pattern and time coefficients of the selected position pattern;
generating a pattern polynomial to define a contour of each section of the position pattern using the generated pattern and time coefficients;
and
generating a position profile by selectively activating one of a plurality of filters, which receive the generated pattern polynomial,
wherein the plurality of filters comprise an acceleration filter and a deceleration filter,
wherein the filter having the relatively large filter size is designed as expressed by the following equation 1 and the filter having the relatively small filter size is designed as expressed by the following equation 2:
y
1
⁡
[
n
]
=
1
ma
⁢
⁢
∑
i
=
n
-
ma
+
1
n
⁢
x
⁡
[
i
]
,
(
Equation
⁢
⁢
1
)
y
2
⁡
[
n
]
=
1
mi
⁢
⁢
∑
i
=
n
-
ma
+
d
/
2
+
1
n
-
d
/
2
⁢
x
⁡
[
i
]
(
Equation
⁢
⁢
2
)
where “y1[n]” denotes a filter having a relatively large filter size, “y2[n]” denotes a filter having a relatively small filter size, “ma” and “mi” denote the larger of two integer values “na” and “nd”, “d” denotes the absolute value of (na−nd), “na” denotes the integer value of (Tra/Ts), “nd” denotes the integer value of (Trd/Ts), “Ts” denotes sampling time, “Tra,” denotes the size of the acceleration filter and is expressed by (Acc/Jerk), “Trd” denotes the size of the deceleration filter and is expressed by (Dec/Jerk), “Jerk” denotes the magnitude of jerk, “Acc” denotes acceleration, and “Dec” denotes deceleration,
wherein the acceleration filter is used to filter a pattern polynomial corresponding to an acceleration section of the position pattern, and the deceleration filter is used to filter a pattern polynomial corresponding to a deceleration section thereof,
wherein if the acceleration and deceleration filters have different filter sizes, switching timing of one of the acceleration and deceleration filters, which has a relatively small filter size, is shifted in time with respect to switching timing of the other filter, which has a relatively large filter size, in order to prevent a switching error from occurring when the acceleration and deceleration filters are switched, and
wherein the position profile controls a servomotor as a drive source to move each joint of an industrial articulated robot by determining work pattern and time.

81 more elements

A computer readable storage medium containing a method of generating a position profile in a motion controller, the method comprising:

selecting one of a plurality of position patterns produced based on velocity change;
generating pattern and time coefficients of the selected position pattern;
generating a pattern polynomial to define a contour of each section of the position pattern using the generated pattern and time coefficients;
and
generating a position profile by selectively activating one of a plurality of filters, which receive the generated pattern polynomial,
wherein the plurality of filters comprise an acceleration filter and a deceleration filter,
wherein the filter having the relatively large filter size is designed as expressed by the following equation 1 and the filter having the relatively small filter size is designed as expressed by the following equation 2.
y
1
⁡
[
n
]
=
1
ma
⁢
∑
i
=
n
-
ma
+
1
n
⁢
⁢
x
⁡
[
i
]
(
Equation
⁢
⁢
1
)
y
2
⁡
[
n
]
=
1
m
⁢
⁢
i
⁢
∑
i
=
n
-
ma
+
d
/
2
+
1
n
-
d
/
2
⁢
⁢
x
⁡
[
i
]
(
Equation
⁢
⁢
2
)
where “yi[n]” denotes a filter having a relatively large filter size, “y2[n]” denotes a filter having a relatively small filter size, “ma” and “mi” denote the larger of two integer values “na” and “nd”, “d” denotes the absolute value of (na−nd), “na” denotes the integer value of (Tra/Ts), “nd” denotes the integer value of (Trd/Ts), “T,” denotes sampling time, “Tra” denotes the size of the acceleration filter and is expressed by (Acc/Jerk), “Trd” denotes the size of the deceleration filter and is expressed by (Dec/Jerk), “Jerk” denotes the magnitude of jerk, “Acc” denotes acceleration, and “Dec” denotes deceleration,
wherein the acceleration filter is used to filter a pattern polynomial corresponding to an acceleration section of the position pattern, and the deceleration filter is used to filter a pattern polynomial corresponding to a deceleration section thereof,
wherein if the acceleration and deceleration filters have different filter sizes, switching timing of one of the acceleration and deceleration filters, which has a relatively small filter size, is shifted in time with respect to switching timing of the other filter, which has a relatively large filter size, in order to prevent a switching error from occurring when the acceleration and deceleration filters are switched, and
wherein the position profile controls a servomotor as a drive source to move each joint of an industrial articulated robot by determining work pattern and time.

83 more elements

A device to generate a position profile in a motion controller, comprising:

a pattern coefficient generator to receive a selection of one of a plurality of position patterns that are based on velocity change and to generate pattern and time coefficients of the received position pattern;
a contour generator to generate a pattern polynomial of a contour of each section of the position pattern with the generated pattern and time coefficients;
and
a controller to selectively activate one of a plurality of filters that generate a position profile,
wherein the plurality of filters comprise an acceleration filter and a deceleration filter,
wherein the filter having the relatively large filter size is designed as expressed by the following equation 1 and the filter having the relatively small filter size is designed as expressed by the following equation 2:
y
1
⁡
[
n
]
=
1
ma
⁢
∑
i
=
n
-
ma
+
1
n
⁢
⁢
x
⁡
[
i
]
(
Equation
⁢
⁢
1
)
y
2
⁡
[
n
]
=
1
m
⁢
⁢
i
⁢
∑
i
=
n
-
ma
+
d
/
2
+
1
n
-
d
/
2
⁢
⁢
x
⁡
[
i
]
(
Equation
⁢
⁢
2
)
where “y1[n]” denotes a filter having a relatively large filter size, “y2[n]” denotes a filter having a relatively small filter size, “ma” and “mi” denote the larger of two integer values “na” and “nd”, “d” denotes the absolute value of (na−nd), “na” denotes the integer value of (Tra/Ts), “nd” denotes the integer value of (Trd/Ts), “T,” denotes sampling time, “T,” denotes the size of the acceleration filter and is expressed by (Acc/Jerk), “Trd” denotes the size of the deceleration filter and is expressed by (Dec/Jerk), “Jerk” denotes the magnitude of jerk, “Acc” denotes acceleration, and “Dec” denotes deceleration,
wherein the acceleration filter is used to filter a pattern polynomial corresponding to an acceleration section of the position pattern, and the deceleration filter is used to filter a pattern polynomial corresponding to a deceleration section thereof,
wherein if the acceleration and deceleration filters have different filter sizes, switching timing of one of the acceleration and deceleration filters, which has a relatively small filter size, is shifted in time with respect to switching timing of the other filter, which has a relatively large filter size, in order to prevent a switching error from occurring when the acceleration and deceleration filters are switched, and
wherein the position profile controls a servomotor as a drive source to move each joint of an industrial articulated robot by determining work pattern and time.

82 more elements

Dependencies are inferred from the claim text.

Facts

Application: 11/132,347Filed 19 May 2005
Priority: KR 10-2004-008504122 Oct 2004
Published: US 2006/0089748 A127 Apr 2006
Granted: 20 Sep 2011
Term ends: Not estimatedThe source records don’t support an estimate.

Classification4 codes

G05B 19/4103
Characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and…:…
G05B 2219/34122
Director, elements to supervisory: function, profile generator
G05B 2219/34142
Director, elements to supervisory: polynomial
G05B
Control or regulating systems in general