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.
Claims11
A method for generating a symmetric motion 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 independent path segments by the automated motion device;
- calculating a velocity profile for each path segment;
- dividing each velocity profile into a blend-in region, a blend-out region and a remainder region, each having a duration;
- overlapping the blend-out region of a current path segment with the blend-in region of a subsequent path segment;
- minimizing a difference between the duration of the blend-in and the blend-out region of consecutive path segments;
- calculating and applying a time offset for consecutive path segments;
- and
- moving along a path defined by the trajectory, wherein the path from a start point to an end point is approximately identical to the path from the end point to the start point.
Dependencies are inferred from the claim text.