[특허]Method for optimizing the motion of a multi-axis robot

Method for optimizing the motion of a multi-axis robot 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06F-015/46 G05B-019/42
출원번호	US-0119260 (1993-09-09)
발명자 / 주소	Batchelder John S. (Somers NY)
출원인 / 주소	Stratasys, Inc. (Eden Prairie MN 02)
인용정보	피인용 횟수 : 59 인용 특허 : 0

초록 ▼

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.

대표청구항 ▼

A method for reducing a time required for an object to be driven by a plurality of motors over a predetermined trajectory through an n-dimensional space wherein n is equal to or greater than two, the trajectory being defined by a list of vertices each having coordinates that defined a location within the n-dimensional space, each vertex being separated from at least one other vertex by a line segment, comprising the steps (a) determining a maximum velocity that can be maintained for each vertex as the object changes direction when being driven from one line segment to the next; (b) sorting the vertices by ascending maximum velocity; (c) examining a pair of vertices consisting of a slowest vertex and a subsequent vertex in the trajectory; (d) if the determined maximum velocity at the subsequent vertex is found to be exactly achieved by accelerating as fast as possible from the slowest vertex, (d1) marking the determined maximum velocity at the subsequent vertex as correct; (e) if the determined maximum velocity at the subsequent vertex is found to be greater than the determined maximum velocity, (e1) reducing the maximum velocity for the subsequent vertex to the value achieved by accelerating as fast as possible from the slowest vertex; and (e2) marking the reduced maximum velocity at the subsequent vertex as correct; (f) if the determined maximum velocity at the subsequent vertex is found to be less than the determined maximum velocity, (f1) marking the subsequent vertex for a subsequent addition of at least one intermediate vertex; (g) examining a pair of vertices consisting of a slowest vertex and a previous vertex in the trajectory; (h) if the determined maximum velocity at the slowest vertex is found to be exactly achieved by decelerating as fast as possible from the previous vertex to the slowest vertex, (h1) marking the maximum velocity at the previous vertex as correct; (i) if the determined maximum velocity at the previous vertex is found to be greater than the determined maximum velocity, (i1) reducing the maximum velocity for the previous vertex to the value achieved by decelerating as fast as possible from the previous vertex to the slowest vertex; and (i2) marking the reduced maximum velocity of the previous vertex as correct; (j) if the determined maximum velocity at the subsequent vertex is found to be less than the determined maximum velocity, (j1) marking the previous vertex for a subsequent addition of at least one intermediate vertex; (k) removing the vertex having the lowest maximum velocity from the vertex list; (l) determining if all vertex pairs have been examined; (m) if all vertex pairs have not been examined, repeating the steps (b) through (l); (n) all vertex pairs have been examined, adding at least one intermediate vertex between each vertex pair previously marked for vertex addition; and (n) determining from a resulting vertex list a sequence of motor control signals so as to cause the object to be driven over the trajectory so as to achieve the indicated velocities at each vertex of the resulting vertex list.

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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
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저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

연합인증

Method for optimizing the motion of a multi-axis robot 원문보기

초록 ▼

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Method for optimizing the motion of a multi-axis robot 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

전체(0) 논문(0) 특허(0) 보고서(0)

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이 특허를 인용한 특허 (59)

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특허 원문 보기

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