Method and system for path planning in cartesian space

Details Method and system for path planning in cartesian space Method and system for path planning in cartesian space

1993-07-30

1995-07-18

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

31856819, 318573, G05B 1942

Patent

active

054344891

ABSTRACT:
Method and system for trajectory or path planning to move a device such as a robot along a Cartesian path to achieve high path accuracy and ease of programming. Cascaded linear filters are utilized to perform acceleration/deceleration control in Cartesian space having six Cartesian components. Generally, six sets of such linear filters are used, three for location components and three for orientation components. Cartesian path blending is also provided. First and second path segments are planned and blended together and a corner distance is formed at a transition between the first and second path segments. A method is also provided for adjusting the corner distance. The corner distance is adjusted by corner distance variables which are independent of program speed so that the resultant Cartesian path can be maintained regardless of program speed changes.

REFERENCES:
patent: 4554497 (1985-11-01), Nozawa et al.
patent: 4598380 (1986-07-01), Holmes et al.
patent: 4603286 (1986-07-01), Sakano
patent: 4623971 (1986-11-01), Ailman et al.
patent: 4706003 (1987-11-01), Nakashima et al.
patent: 4706204 (1987-11-01), Hattori
patent: 4746251 (1988-05-01), Yoshikawa et al.
patent: 4772831 (1988-09-01), Casler, Jr. et al.
patent: 4773025 (1988-09-01), Penkar et al.
patent: 4774445 (1988-09-01), Penkar
patent: 4894596 (1990-01-01), Hara
patent: 5028855 (1991-07-01), Distler et al.
patent: 5057756 (1991-10-01), Hara
patent: 5073748 (1991-12-01), Boehm
patent: 5140236 (1992-08-01), Kawamura et al.

Affiliated with

Also associated with

Rating

Method and system for path planning in cartesian space 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 and system for path planning in cartesian space, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method and system for path planning in cartesian space will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-2420076