Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1999-01-11
2000-02-22
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856818, 318573, 395 85, 395 87, 395 80, 382263, 382236, G06F 1546, G05B 1942
Patent
active
060284102
ABSTRACT:
The present invention provides a method for controlling following error in a robotic system that moves a tool at a velocity along a path defined by an inputted set of vertices. The following error is controlled to be less than a tolerable error allowance. First, a subset of resonant vertices is identified from the inputted set of vertices. Each of the resonant vertices has a neighboring vertex for which a following error that results when the tool negotiates both the vertex and its neighboring vertex at an assigned vertex velocity might exceed the tolerable error allowance. Second, each vertex in the subset of resonant vertices is assigned a reduced vertex velocity. The reduced vertex velocity is selected so that the following error that results when the tool negotiates both the vertex and its neighboring vertex at the reduced velocities is less than the tolerable error allowance.
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Comb James W.
Leavitt Paul J.
Rapoport Edward
Ip Paul
Stratasys Inc.
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