Boots – shoes – and leggings
Patent
1994-03-29
1995-02-28
Trammell, James P.
Boots, shoes, and leggings
36447431, 318573, G05B 1925, G05B 1918, G06F 1546
Patent
active
053943236
ABSTRACT:
The desired path for each axis is predefined and converted to a first series of coarse position increments at time intervals. The coarse position increments are converted to a second series of spaced, (in time), fine position increments and expected values of velocity v. The latter parameters requiring splining and interpolation of values. The actual position of each axis is measured and compared with that required (by the fine series of position increments) to determine the resulting error E which is then compared with a calculated allowable error, e.sub.allowable calculated as a function of the then current planned velocity value v i.e. the planned value of velocity v corresponding to the current fine position increment and a signal is triggered when the actual error E exceeds the allowable error e.sub.allowable to prevent processing of the next increment in the second series of increments.
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"Zero Phase Error Tracking Algorithms for Digital Control" Tomizuka M. 1987 ASME 109 Mar. p. 65-68.
"A Note on a Single Method for the Improvement of Interpolation Accuracy in General Purpose Multi-Processor Band Monitor Controller" Yellowley et al. International Journal of Machine Tools & Manufacture, vol. 29 No. 2 1989 pp. 287-292.
"Design of Control System" A Fresh D'Souza, Prentice Hall, pp. 230-238 1988.
Seethaler Rudolf J.
Yellowley Ian
Rowley C. A.
The University of British Columbia
Trammell James P.
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