Data processing: generic control systems or specific application – Generic control system – apparatus or process – Digital positioning
Reexamination Certificate
2006-07-04
2006-07-04
Knight, Anthony (Department: 2121)
Data processing: generic control systems or specific application
Generic control system, apparatus or process
Digital positioning
C700S188000, C700S186000, C318S567000, C702S141000, C707S793000
Reexamination Certificate
active
07072724
ABSTRACT:
Method for processing parameters of a spatiotemporal trajectory of movement of a moving body, this method being characterized in that: after having collected the data of the trajectory, the curvilinear abscissa (s) of the trajectory is calculated at least for the point of origin (A, B, C, . . . ) of each of its segments, and the result of the calculation of the curvilinear abscissa (s) of each point of origin of a segment is associated with at least one item of information relative to the desired speed of movement of the moving body over the segment in question; at least one predetermined law of acceleration (a(t)) is chosen, then that predetermined law of acceleration (a(t)) is applied to every instantaneous positive jump in speed, this in such a way as to associate with each positive jump in the desired speed (V) an expression of the speed in terms of the curvilinear abscissa, these data are stored, then the expressions of speed obtained are combined so as to obtain, for the whole trajectory, a single expression giving the final speed in terms of the curvilinear abscissa (s); successive intervals of time are defined and, for each of the intervals, the curvilinear path traveled from the starting point of the trajectory is calculated; for each of the intervals of time, the position of the moving body along each axis (X, Y) is extracted, in terms of the curvilinear path traveled; the positions of the moving body along each axis (X, Y) are stored, as a function of the time elapsed from the starting point of the trajectorys; these data are utilized to control the movement of the moving body on a machine that includes this moving body.
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Goto, Satoru, Nakamura, Masatoshi and Kyura, Nobuhiro, “Trajectory Generation of Industrial Mechatronic Systems to Achieve Accurate Contour Control Performance under Torque Saturation,” Proceedings of the IEEE International Conference on Robotics and Automation, May 21, 1995, vol. 3, pp. 2401-2406.
Chang Sunray
Knight Anthony
Oliff & Berrdige, PLC
Tornos SA
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