Electricity: motive power systems – Motor-reversing – Armature or primary circuit control
Patent
1997-08-25
1999-07-06
Ruggiero, Joseph
Electricity: motive power systems
Motor-reversing
Armature or primary circuit control
31856815, 36416707, 36447431, 395 87, G06F 1900
Patent
active
059206799
ABSTRACT:
A method for using a special class of low-harmonic Bezier curves to plan and generate trajectory patterns for computer-controlled machinery in which desired motion information is input into a first processor. A low-harmonic trajectory is then generated from the desired motion information according to the low-harmonic Bezier curves and output into a second processor where points along the low-harmonic trajectory are computed. Each point on the trajectory is then output, amplified, and input into an actuator for performing a desired motion, but which results in an actual motion. The actual motion is then compared to the desired motion in a comparing means which computes an error. A feedback control signal is then generated to correct the error. Lastly, the method is repeated for all points on the trajectory until the trajectory is complete or the operation is terminated. Another aspect of the present invention is an apparatus for carrying out the method of the present invention.
REFERENCES:
patent: 5179514 (1993-01-01), Rastegar et al.
patent: 5331542 (1994-07-01), Itoh
patent: 5377310 (1994-12-01), Jain et al.
patent: 5390292 (1995-02-01), Takamura et al.
patent: 5424962 (1995-06-01), Bouchez et al.
patent: 5426722 (1995-06-01), Batchelder
patent: 5497061 (1996-03-01), Nonaka et al.
patent: 5604413 (1997-02-01), Khorrami et al.
patent: 5726896 (1998-03-01), Via et al.
Q.J. Ge et al. (1995) "Low-Harmonic Rational Bezier and Spline Curves for Joint Trajectory Synthesis With . . . " Proc. of IEEE International Conference on Robotics and Automation: 2433-2438; May 1995.
Q.J. Ge et al. (1995) "Special Classes of Rational Curves With Low Harmonic Content for Optimal Robot Manipulator . . . " Proc. of IFTOMM World Congress; Aug. 1995.
Q.J. Ge et al. (1997) "Bernstein-Bezier Harmonics and Their Application to Robot Trajectory Synthesis . . . " ASME Journal of Mechanical Design in publication; 1997.
Q.J. Ge et al. (1997) "Low-Harmonic Rational Bezier Curves for Trajectory Generation of High-Speed Machinery" Journal of Computer Aided Geometric Design in publication; 1997.
A. Gentile et al. (1996) "WMR Trajectory Planning by Means of Bezier Curves" Proc. of IEEE: 851-856; Jul. 1996.
A. Arakawa et al. (1995) "Trajectory Generation for Wheeled Mobile Robot Based on Landmarks" Proc. of IEEE: 1273-1278; 1995.
Y. Konishi et al, (1988) "Trajectory Generation and Control of a Five-Bar-Link Parallel Direct-Drive Robot" Robotics & Computer-integrated Manufacturing 4(3/4): 395-402; 1988.
Ge Q. Jeffrey
Rastegar Jahangir S.
Ruggiero Joseph
The Research Foundation of State University of New York
LandOfFree
Apparatus and method for computer-aided low-harmonic trajectory does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Apparatus and method for computer-aided low-harmonic trajectory , we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Apparatus and method for computer-aided low-harmonic trajectory will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-905652