Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1998-12-23
2000-04-04
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856819, 318573, G05B 1941, G05B 1925, B25J 904
Patent
active
060465646
ABSTRACT:
Disclosed is a path planning apparatus and method for robots. The apparatus includes a planner which receives target positioning information, performs calculations using this information to obtain an initial speed profile, then outputs the initial speed profile; a low pass filter functioning as an interpolator which receives the initial speed profile from the planner, performs a predetermined operation on the same to obtain a filtered speed profile that is smoother than the initial speed profile, and outputs the filtered speed profile; a servo controller which receives output of the low pass filter and outputs acceleration and deceleration control signals according to the output of the low pass filter, and a servo motor which is controlled by the signals received from the servo controller. The method includes the steps of calculating an initial speed profile calculated after receiving input of signals corresponding to a predetermined target position, obtaining a filtered speed profile by interpolating the initial speed profile using a single low pass filter; and controlling acceleration and deceleration of a servo motor using the filtered speed profile.
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Ip Paul
Samsung Electronics Co,. Ltd.
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