Method for optimizing the motion of a multi-axis robot
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United States of America Patent
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Jun 20, 1995
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app pub date -
Sep 9, 1993
filing date -
Sep 9, 1993
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Abstract
A method for determining an optimal trajectory and velocity for an open loop stepper motor driven robot (1) is disclosed, as is an open loop robotic system suitable for use in, by example, a rapid prototyping system (10). The method utilizes a deflection angle calculation of a maximal velocity for each vertex of a set of vertices that define a desired trajectory, a heap sort for globally ensuring that none of the vertices have an excessive velocity, and a vertex adding technique that ensures that the robot is performing straight line moves as rapidly as is possible.
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