公开(公告)号：US06704619B1

公开(公告)日：2004-03-09

申请号：US10453963

申请日：2003-06-03

Applicant: Norm Coleman ,  Ching-Fang Lin

Inventor： Norm Coleman ,  Ching-Fang Lin

IPC: G06F1900

CPC classification number: G05D1/0255 ,  G05B2219/37388 ,  G05B2219/39259 ,  G05B2219/42064 ,  G05D1/0278

Abstract: A system for universal guidance and control of automated machines incorporates with an IMU (Initial Measuring Unit) installed at an end effector of a motion element of an automated machine, fast-response feedback control for both position and angle servo-loops (for the end effector) greatly decreases the operational time needed to complete a preplanned trajectory. In addition, the closed-control loop design provides stabilization and isolation of the end effector from external disturbances. This unique navigation solution is based upon the uses of a set of equations performing an open loop computation with the inertial data as its input. This formulation of equations requires a periodic update of the open loop solution in order to bind the growth of system errors. The source of this update is the automated machine position measurement derived from the mechanical sensors in the system.

Abstract translation: 用于自动化机器的通用引导和控制的系统与安装在自动机器的运动元件的末端执行器上的IMU（初始测量单元）结合，用于位置和角度伺服回路的快速响应反馈控制 效应器）大大降低了完成预计划轨迹所需的操作时间。 此外，闭环控制回路设计提供端部执行器的稳定和隔离以免外部干扰。 这种独特的导航解决方案是基于以惯性数据作为其输入执行开环计算的一组方程的使用。 这种公式的公式需要定期更新开环解决方案，以便限制系统错误的增长。 该更新的来源是从系统中的机械传感器得到的自动机器位置测量。