System and method for controlling redundant actuators with different dynamics

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United States of America Patent

PATENT NO 10324446
APP PUB NO 20180253076A1
SERIAL NO

15447448

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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A laser processing system includes redundant actuators positioning a laser spot on a workpiece. The system determines a first trajectory of the first actuator minimizing motion of the first actuator that positions the second actuator such that each point of the reference trajectory is within a range of the second actuator and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory. For each axis of control, the system determines an envelope centered on the reference trajectory with a width not greater than the range of the second actuator and determines shortest trajectory traversing the envelope along the time domain to produce the first trajectory. Hence, the first trajectory includes a set of straight segments satisfying the constraints defined by the shape of the envelope. The system includes controllers for control the motion of redundant actuators.

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Patent Owner(s)

  • MITSUBISHI ELECTRIC RESEARCH LABORATORIES, INC.

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Di, Cairano Stefano Newton, US 103 845
Goldsmith, Abraham Boston, US 12 32
Kalabic, Uros Jamaica Plain, US 26 77

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