Operation aware control of processing machine with redundant actuators

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United States of America Patent

PATENT NO 10216168
APP PUB NO 20180164774A1
SERIAL NO

15376796

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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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 constraints on motion are selected based on the mode of operation of the processing machine. 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.

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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 Somerville, US 103 832
Goldsmith, Abraham Boston, US 12 32
Kalabic, Uros Jamaica Plain, US 26 77

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