公开(公告)号：US5920679A

公开(公告)日：1999-07-06

申请号：US918166

申请日：1997-08-25

申请人： Q. Jeffrey Ge ,  Jahangir S. Rastegar

发明人： Q. Jeffrey Ge ,  Jahangir S. Rastegar

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  B25J9/1664

摘要： A method for using a special class of low-harmonic Bezier curves to plan and generate trajectory patterns for computer-controlled machinery in which desired motion information is input into a first processor. A low-harmonic trajectory is then generated from the desired motion information according to the low-harmonic Bezier curves and output into a second processor where points along the low-harmonic trajectory are computed. Each point on the trajectory is then output, amplified, and input into an actuator for performing a desired motion, but which results in an actual motion. The actual motion is then compared to the desired motion in a comparing means which computes an error. A feedback control signal is then generated to correct the error. Lastly, the method is repeated for all points on the trajectory until the trajectory is complete or the operation is terminated. Another aspect of the present invention is an apparatus for carrying out the method of the present invention.

摘要翻译： 一种使用特殊类别的低谐波贝塞尔曲线来计划和产生计算机控制的机器的轨迹图案的方法，其中期望的运动信息被输入到第一处理器中。 然后根据低谐波贝塞尔曲线从期望的运动信息生成低谐波轨迹，并输出到沿着低谐波轨迹的点计算的第二处理器。 然后轨迹上的每个点被输出，放大并输入到用于执行期望运动的致动器中，但这导致实际运动。 然后将实际运动与计算误差的比较装置中的期望运动进行比较。 然后产生反馈控制信号以校正误差。 最后，对轨迹上的所有点重复该方法，直到轨迹完成或操作终止。 本发明的另一方面是用于实施本发明的方法的装置。