公开(公告)号：US09744620B2

公开(公告)日：2017-08-29

申请号：US14679359

申请日：2015-04-06

申请人： Mitsubishi Electric Research Laboratories, Inc.

发明人： Stefano Di Cairano ,  Abraham Goldsmith ,  Scott Bortoff

IPC分类号： G06F19/00 ,  B23K26/082 ,  G05B19/19 ,  G05B19/41

CPC分类号： B23K26/082 ,  G05B19/19 ,  G05B19/195 ,  G05B19/41 ,  G05B2219/34148 ,  G05B2219/41105 ,  G05B2219/41194 ,  G05B2219/42224 ,  G05B2219/45041

摘要： An operation of a processing machine with redundant actuators is controlled according to a reference trajectory by selecting, from a set of points forming a segment of the reference trajectory to be processed for a period of time, a subset of points corresponding to a fraction of the period of time. The subset of points is selected such that the redundant actuators are capable to position the worktool at each point in the subset within the period of time and are capable to maintain the worktool at the last point of the subset after the period of time while satisfying constraints on motion of the redundant actuators. The segment of the reference trajectory is modified in the time domain and the control inputs for controlling the motion of the redundant actuators are determined using the modified segment of the reference trajectory.

公开(公告)号：US5148372A

公开(公告)日：1992-09-15

申请号：US254351

申请日：1988-10-06

申请人： Roberto Maiocco ,  Luciano Basadonna ,  Renato De Alessi

发明人： Roberto Maiocco ,  Luciano Basadonna ,  Renato De Alessi

IPC分类号： G05B19/42

CPC分类号： G05B19/4207 ,  G05B2219/34096 ,  G05B2219/34145 ,  G05B2219/34148 ,  G05B2219/36438 ,  G05B2219/37207 ,  Y02P90/265

摘要： An interactive graphics system for the mathematical representation of physical models, comprising at least one measuring machine bidirectionally connected to a central unit to which are connected a video screen and a keyboard and including processor means adapted to receive from the measuring machine information on at least initial identification points of the model, to control the automatic detection of information on additional points of the model by means of the same measuring machine, and to process this point information to produce the mathematical representation of the model.

公开(公告)号：US20160288256A1

公开(公告)日：2016-10-06

申请号：US14679359

申请日：2015-04-06

申请人： Mitsubishi Electric Research Laboratories, Inc.

发明人： Stefano Di Cairano ,  Abraham Goldsmith ,  Scott Bortoff

IPC分类号： B23K26/082 ,  G05B19/19

CPC分类号： B23K26/082 ,  G05B19/19 ,  G05B19/195 ,  G05B19/41 ,  G05B2219/34148 ,  G05B2219/41105 ,  G05B2219/41194 ,  G05B2219/42224 ,  G05B2219/45041

摘要： An operation of a processing machine with redundant actuators is controlled according to a reference trajectory by selecting, from a set of points forming a segment of the reference trajectory to be processed for a period of time, a subset of points corresponding to a fraction of the period of time. The subset of points is selected such that the redundant actuators are capable to position the worktool at each point in the subset within the period of time and are capable to maintain the worktool at the last point of the subset after the period of time while satisfying constraints on motion of the redundant actuators. The segment of the reference trajectory is modified in the time domain and the control inputs for controlling the motion of the redundant actuators are determined using the modified segment of the reference trajectory.

摘要翻译： 具有冗余致动器的处理机器的操作根据参考轨迹被控制，该组合点从形成待处理一段时间的参考轨迹的一组点选择对应于一部分 一段的时间。 选择点的子集，使得冗余致动器能够在时间段内将工具在工件中定位在子集中的每一个点上，并且能够在满足约束条件的时间段之后将该工件工具保持在该子集的最后一个点之后 在冗余执行器的运动。 在时域修改参考轨迹的段，并且使用参考轨迹的修改段确定用于控制冗余致动器的运动的控制输入。

公开(公告)号：US4979224A

公开(公告)日：1990-12-18

申请号：US249803

申请日：1988-09-27

申请人： Roberto Maiocco ,  Luciano Basadonna

发明人： Roberto Maiocco ,  Luciano Basadonna

IPC分类号： G05B19/42

CPC分类号： G05B19/4207 ,  G05B2219/34096 ,  G05B2219/34145 ,  G05B2219/34148 ,  G05B2219/36438 ,  G05B2219/37207 ,  Y02P90/265

摘要： An interactive graphics system for modelling physical articles, includes a measurement device connected bi-directionally with a central unit to which a video screen and a keyboard are connected, as well as processing media which are suitable for receiving from the measurement device, at least, data on initial model identification points, and for controlling the automatic collection of addition data regarding the model by means of the same measurement equipment in order to provide such data for processing for use in deriving the model.

摘要翻译： 一种用于对物理物品进行建模的交互式图形系统，包括与视频屏幕和键盘连接的中央单元双向连接的测量装置，以及适于从测量装置接收的处理介质，至少， 关于初始模型识别点的数据，并且用于通过相同的测量设备来控制关于模型的附加数据的自动收集，以便提供用于处理的数据以用于导出模型。