Method for controlling redundantly actuated machines for cutting a pattern of disconnected contours
AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorsTyler Garaas, Sohrab Haghighat
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Abstract
A method controls a machine with redundant actuators according to pattern of disconnected contours, wherein the machine includes redundant actuators by first generating a set of initial trajectories from the pattern. Each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour. A set of costs for the set of initial trajectories is determined. A sequence of final trajectories is determined based on the set of costs. Then, a set of commands is generated for controlling the machine according to the sequence of final trajectories.
Claims20
A method for controlling a machine according to pattern of disconnected contours, wherein the machine includes redundant actuators, comprising:
- generating a set of initial trajectories from the pattern, wherein each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour;
- determining a set of costs for the set of initial trajectories, wherein the determining comprises generating a set of possible costs to make one path between two contours by considering multiple initial conditions for states of fast and slow actuators;
- determining a sequence of final trajectories based on the set of costs;
- determining a set of commands for controlling the machine according to the sequence of final trajectories, wherein the steps are performed in a processor.
A system for controlling a machine according to pattern of disconnected contours, comprising:
- a fast actuator and a slow actuator;
- and
- a processor for
- generating a set of initial trajectories from the pattern, wherein each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour;
- determining a set of costs for the set of initial trajectories, wherein the set of costs are determined by ensuring a fast actuator starts at a neutral position;
- determining a sequence of final trajectories based on the set of costs;
- and
- determining a set of commands for controlling the machine according to the sequence of final trajectories.
A method for controlling a machine according to pattern of disconnected contours, wherein the machine includes redundant actuators, comprising:
- generating a set of initial trajectories from the pattern, wherein each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour;
- determining a set of costs for the set of initial trajectories;
- determining a sequence of final trajectories based on the set of costs;
- determining a set of commands for controlling the machine according to the sequence of final trajectories, wherein the machine includes a slow and a fast actuator, and wherein the paths are generated only by the slow actuator, wherein the steps are performed in a processor.
A method for controlling a machine according to pattern of disconnected contours, wherein the machine includes redundant actuators, comprising:
- generating a set of initial trajectories from the pattern, wherein each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour;
- determining a set of costs for the set of initial trajectories;
- determining a sequence of final trajectories based on the set of costs;
- optimizing the set of final trajectories to obtain optimized trajectories, wherein the optimizing minimizes a total traveling distance of slow actuators;
- and
- determining a set of commands for controlling the machine according to the sequence of optimized trajectories, wherein the steps are performed in a processor.
A method for controlling a machine according to pattern of disconnected contours, wherein the machine includes redundant actuators including a slow actuator and a fast actuator, comprising:
- generating a set of initial trajectories from the pattern, wherein each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour;
- determining a set of costs for the set of initial trajectories ensuring the fast actuator starts and ends at a neutral position;
- determining a sequence of final trajectories based on the set of costs;
- and
- determining a set of commands for controlling the machine according to the sequence of final trajectories, wherein the steps are performed in a processor.
Dependencies are inferred from the claim text.