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公开(公告)号：US20090037021A1
公开(公告)日：2009-02-05
申请号：US11831414
申请日：2007-07-31
IPC分类号： G06F19/00
CPC分类号： G05B19/416 , B25J9/1664 , G05B2219/34175 , G05B2219/39242 , G05B2219/43009
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.
摘要翻译： 本示例性实施例涉及运动控制和规划算法，以便于执行运动轨迹内的一系列移动。 在一个示例中，轨迹被指定为一个或多个路径段的序列。 对于一个或多个路径段中的每一个计算速度分布，其中每个速度分布被分为混合区域，混合区域和其余区域。 执行每个路径段，使得其速度轮廓的混合区域仅与先前轮廓的混合区域重叠。
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公开(公告)号：US20110307096A1
公开(公告)日：2011-12-15
申请号：US13157670
申请日：2011-06-10
IPC分类号： G05B19/04
CPC分类号： G05B19/416 , B25J9/1664 , G05B2219/34175 , G05B2219/39242 , G05B2219/43009
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.
摘要翻译： 本示例性实施例涉及运动控制和规划算法，以便于执行运动轨迹内的一系列移动。 在一个示例中，轨迹被指定为一个或多个路径段的序列。 对于一个或多个路径段中的每一个计算速度分布，其中每个速度分布被分为混合区域，混合区域和其余区域。 执行每个路径段，使得其速度轮廓的混合区域仅与先前轮廓的混合区域重叠。
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公开(公告)号：US07979158B2
公开(公告)日：2011-07-12
申请号：US11831414
申请日：2007-07-31
IPC分类号： G05B19/04
CPC分类号： G05B19/416 , B25J9/1664 , G05B2219/34175 , G05B2219/39242 , G05B2219/43009
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.
摘要翻译： 本示例性实施例涉及运动控制和规划算法，以便于执行运动轨迹内的一系列移动。 在一个示例中，轨迹被指定为一个或多个路径段的序列。 对于一个或多个路径段中的每一个计算速度分布，其中每个速度分布被分为混合区域，混合区域和其余区域。 执行每个路径段，使得其速度轮廓的混合区域仅与先前轮廓的混合区域重叠。
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4.发明授权Curve interpolation method for performing velocity control during connecting motion of a robot 失效用于在机器人的连接运动期间执行速度控制的曲线插值方法
公开(公告)号：US5988850A
公开(公告)日：1999-11-23
申请号：US836055
申请日：1997-04-29
申请人： Hidetoshi Kumiya
发明人： Hidetoshi Kumiya
IPC分类号： B25J9/10 , B25J9/18 , G05B19/4103 , G05B19/416 , G05B19/18
CPC分类号： G05B19/416 , G05B19/4103 , G05B2219/34098 , G05B2219/34169 , G05B2219/34175 , G05B2219/39242 , G05B2219/42207 , G05B2219/45083
摘要： An interpolation method for enabling a robot to make a smooth connecting motion accompanied by velocity control even in the case where the connecting motion involves a nonzero-acceleration motion. During motion path planning for the robot, in order to perform an interpolation so that a point a.sup.(0) on a first motion path G and a point b.sup.(0) on a second motion path H may be smoothly connected by a connecting curve S, the connecting curve S being determined using a parameter including time instant t. First, a function p(T, t) satisfying boundary conditions (continuity of position, velocity, acceleration, etc.) corresponding to required smoothness C.sup.k is derived as a polynomial equation or the like including an unknown parameter T, and by optimizing a suitable evaluation function .epsilon.(T), T.sub.0 for keeping the velocity constant is obtained. Interpolation is performed using q(t)=p(T.sub.0, t), whereupon a connecting motion, in which the velocity is controlled to a constant value, can be attained. Where a composite function (q.smallcircle.f)(t) including an adjustment function f(t) corresponding to a desired velocity transition pattern is used for the interpolation, the velocity can be varied in a desired manner during the connecting motion.
摘要翻译： PCT No.PCT / JP96 / 02472 Sec。 371日期1997年04月29日 102（e）日期1997年4月29日PCT 1996年9月2日PCT公布。 出版物WO97 / 08596 日期1997年3月6日即使在连接运动涉及非零加速运动的情况下，使机器人能够进行伴随速度控制的平滑连接运动的插值方法。 在机器人的运动路径规划期间，为了执行插值，使得第一运动路径G上的点a（0）和第二运动路径H上的点b（0）可以通过连接曲线S平滑地连接 ，使用包括时刻t的参数确定连接曲线S. 首先，将与所需平滑度Ck对应的满足边界条件（位置，速度，加速度等的连续性）的函数p（T，t）导出为包含未知参数T的多项式等， 得到用于保持速度常数的评估函数ε（T），T0。 使用q（t）= p（T0，t）进行插补，由此可以实现将速度控制为恒定值的连接运动。 在包括对应于期望的速度转变图案的调整函数f（t））的复合函数（q + 602f）（t）被用于插值的情况下，可以在连接运动期间以期望的方式改变速度。
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公开(公告)号：US12064737B2
公开(公告)日：2024-08-20
申请号：US17972086
申请日：2022-10-24
发明人： Anthony Ciepiel , David Kolar , Kang Zhang , Chad Markovich , Judson Cummins , Mark Fleming
IPC分类号： B01F33/00 , A47J36/32 , A47J43/00 , A47J43/07 , B01F33/84 , B01F35/21 , B01F35/22 , G06K7/10 , G06K7/14 , G06Q20/32 , G07F9/00 , G07F17/00 , A47J31/52 , B01F101/14 , G06Q20/20
CPC分类号： B01F33/8442 , A47J36/321 , A47J43/0716 , B01F33/848 , B01F35/2117 , B01F35/2209 , G06K7/10722 , G06K7/1413 , G06Q20/3278 , G07F9/001 , G07F9/002 , G07F17/0064 , A47J31/521 , B01F2101/14 , G05B2219/39242 , G06Q20/20
摘要： A blending system includes a blender base and a container. The blender base includes a housing that houses a motor. The container is attachable to the blender base. The blending system includes a user device that communicates with the blender base. The user device may communicate with a remote computing device. The user device generates instructions and recipes for the blender base.
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公开(公告)号：US08290611B2
公开(公告)日：2012-10-16
申请号：US13157670
申请日：2011-06-10
IPC分类号： G06F19/00
CPC分类号： G05B19/416 , B25J9/1664 , G05B2219/34175 , G05B2219/39242 , G05B2219/43009
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.
摘要翻译： 本示例性实施例涉及运动控制和规划算法，以便于执行运动轨迹内的一系列移动。 在一个示例中，轨迹被指定为一个或多个路径段的序列。 对于一个或多个路径段中的每一个计算速度分布，其中每个速度分布被分为混合区域，混合区域和其余区域。 执行每个路径段，使得其速度轮廓的混合区域仅与先前轮廓的混合区域重叠。
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7.发明授权
公开(公告)号：US5602968A
公开(公告)日：1997-02-11
申请号：US238041
申请日：1994-05-02
申请人： Richard A. Volpe
发明人： Richard A. Volpe
CPC分类号： B25J9/1664 , G05B2219/34098 , G05B2219/39242 , G05B2219/40512
摘要： The invention is embodied in a method of controlling a robot manipulator moving toward a target frame F.sub.0 with a target velocity v.sub.0 including a linear target velocity .nu. and an angular target velocity .omega..sub.0 to smoothly and continuously divert the robot manipulator to a subsequent frame F.sub.1 by determining a global transition velocity v.sub.1, the global transition velocity including a linear transition velocity .nu..sub.1 and an angular transition velocity .omega..sub.1, defining a blend time interval 2.tau..sub.0 within which the global velocity of the robot manipulator is to be changed from a global target velocity v.sub.0 to the global transition velocity v.sub.1 and dividing the blend time interval 2.tau..sub.0 into discrete time segments .delta.t. During each one of the discrete time segments .delta.t of the blend interval 2.tau..sub.0, a blended global velocity v of the manipulator is computed as a blend of the global target velocity v.sub.0 and the global transition velocity v.sub.1, the blended global velocity v including a blended angular velocity .omega. and a blended linear velocity .nu., and then, the manipulator is rotated by an incremental rotation corresponding to an integration of the blended angular velocity .omega. over one discrete time segment .delta.t.
摘要翻译： 本发明体现在一种控制机器人操纵器的方法，该机器人操纵器以包括线性目标速度nu和角度目标速度ω0的目标速度v0朝向目标帧F0移动，以平滑地并且连续地将机器人操纵器转移到随后的帧F1， 确定全局转变速度v1，包括线性跃迁速度nu 1和角度转变速度ω1的全局转变速度，其定义混合时间间隔2τ0，其中机器人机械手的全局速度将从全局变化 目标速度v0到全局转变速度v1，并将混合时间间隔2 tau 0分成离散时间段delta t。 在混合间隔2 tau 0的离散时间段delta t的每一个期间，机械手的混合全局速度v被计算为全局目标速度v0和全局转变速度v1的混合，混合全局速度v包括 混合角速度ω和混合线速度nu，然后，操纵器旋转相当于在一个离散时间段Δt上的混合角速度ω的积分的增量旋转。
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