Method for optimizing the motion of a multi-axis robot

Details Method for optimizing the motion of a multi-axis robot Method for optimizing the motion of a multi-axis robot

1993-09-09

1995-06-20

MacDonald, Allen R.

G06F 1546, G05B 1942

Patent

active

054267226

ABSTRACT:
A method for determining an optimal trajectory and velocity for an open loop stepper motor driven robot (1) is disclosed, as is an open loop robotic system suitable for use in, by example, a rapid prototyping system (10). The method utilizes a deflection angle calculation of a maximal velocity for each vertex of a set of vertices that define a desired trajectory, a heap sort for globally ensuring that none of the vertices have an excessive velocity, and a vertex adding technique that ensures that the robot is performing straight line moves as rapidly as is possible.

REFERENCES:
patent: Re30132 (1979-10-01), Irie
patent: 3748563 (1973-07-01), Pomella et al.
patent: 4415967 (1983-11-01), Russell
patent: 4488242 (1984-12-01), Tabata et al.
patent: 4617502 (1986-10-01), Sakane et al.
patent: 4618808 (1986-10-01), Ish-Shalom et al.
patent: 4629860 (1986-12-01), Lindbom
patent: 4639878 (1987-01-01), Day et al.
patent: 4749347 (1988-06-01), Valavaara
patent: 4769583 (1988-09-01), Goor
patent: 4773025 (1988-09-01), Penkar et al.
patent: 4829219 (1989-05-01), Penkar
patent: 4843287 (1989-06-01), Taft
patent: 4916636 (1990-04-01), Torii et al.
patent: 4925312 (1990-05-01), Onaga et al.
patent: 4990838 (1991-02-01), Kawato et al.
patent: 5179514 (1993-01-01), Rastegar et al.
patent: 5276383 (1994-01-01), Nishimura et al.
patent: 5303141 (1994-04-01), Batchelder et al.
Zolghodri et al, "A Supervised Path Planner", 5th Int'l Conf on Advanced Robots in Unstructured Robotics, Environments, Jun. 19-22 1991, pp. 1710-1713 vol. 2.
Lin et al, "Manipulator Control with Torque Interpolation", 1990 IEEE Int'l Conf on Systems, Mon. & Cybernetics, Nov. 4-7 1990, pp. 624-626.
Algorithms, Addison-Wesley, New York, 1988, ISBN 0-201-06673-4, pp. 132-139.

Affiliated with

Also associated with

Rating

Method for optimizing the motion of a multi-axis robot does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Method for optimizing the motion of a multi-axis robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method for optimizing the motion of a multi-axis robot will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-1850364