Method and device for generating an input command for a motion control system
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United States of America Patent
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-
Jul 19, 1994
Grant Date -
N/A
app pub date -
Apr 15, 1993
filing date -
Apr 15, 1993
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A method and device of achieving motion cycle time reduction that takes motor capabilities, load inertia and gravity into account and, at the same time, produces acceptable tool tip vibration upon stopping. This cycle time reduction is especially applicable to short motions of a robot where the entire motion consists of acceleration and deceleration and there is no constant velocity region. The method and device provide open loop limiting factors for axis jerk, acceleration and velocity, taking into account robot position, payload and inertia.
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