发明申请
- 专利标题: BLENDING ALGORITHM FOR TRAJECTORY PLANNING
- 专利标题(中): 用于TRAJECTORY规划的混合算法
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申请号: US13157670申请日: 2011-06-10
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公开(公告)号: US20110307096A1公开(公告)日: 2011-12-15
- 发明人: Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
- 申请人: Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
- 申请人地址: US OH Mayfield Heights
- 专利权人: Rockwell Automation Technologies, Inc.
- 当前专利权人: Rockwell Automation Technologies, Inc.
- 当前专利权人地址: US OH Mayfield Heights
- 主分类号: G05B19/04
- IPC分类号: G05B19/04
摘要:
The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.
公开/授权文献
- US08290611B2 Blending algorithm for trajectory planning 公开/授权日:2012-10-16