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1. 发明申请

US20090102411A1 SYSTEM AND METHOD FOR JERK LIMITED TRAJECTORY PLANNING FOR A PATH PLANNER 有权
标题翻译：用于JERK有限公司的路线规划的系统和方法
公开(公告)号：US20090102411A1
公开(公告)日：2009-04-23
申请号：US11875913
申请日：2007-10-21
申请人： Daniel H. MILLER , William Lindsay Morrison
发明人： Daniel H. MILLER , William Lindsay Morrison
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/41408 , G05B2219/43168 , Y10S388/904
摘要： A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase comprises calculating a jerk value required to successfully reach end conditions during a move in progress. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control to reach a target position. The system further includes a device being controlled for a move and at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.
摘要翻译：用于实时生成运动曲线的系统包括处理器。处理器将进入第一阶段和第二阶段。第一阶段包括指示朝向恒定速度段的移动，并且第二阶段包括计算在进行中移动期间成功达到终止条件所需的冲击值。处理器还基于运动曲线发送命令信号，并且计算第二阶段必须控制到达目标位置的点。该系统还包括被控制用于移动的装置和接收命令信号的至少一个输入/输出模块。还提出了一种用于实时生成运动曲线的方法。

2. 发明授权

US07962240B2 Methods and systems for synchronizing a control signal of a slave follower with a master source 有权
标题翻译：用于使从跟随器的控制信号与主源同步的方法和系统
公开(公告)号：US07962240B2
公开(公告)日：2011-06-14
申请号：US11961198
申请日：2007-12-20
申请人： William Lindsay Morrison , Daniel H. Miller
发明人： William Lindsay Morrison , Daniel H. Miller
IPC分类号： G06F19/00
CPC分类号： G05B19/414 , G05B2219/34135 , G05B2219/42186 , G05B2219/50231
摘要： A method for synchronizing a slave follower with a master source is provided. The method includes defining a relationship between the master source and the slave follower, inputting a first position of the master source, and inputting a first position of the slave follower. The method also includes defining a second position where the slave follower synchronizes with the master source, and fitting a curve between the first position of the slave follower the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.
摘要翻译：提供了一种用于使从跟随器与主源同步的方法。该方法包括定义主源和从跟随器之间的关系，输入主源的第一位置以及输入从跟随器的第一位置。该方法还包括定义第二位置，其中从跟随器与主源同步，并且在从跟随器的第一位置与第二位置之间拟合曲线。基于主源和从跟随器之间的关系，从跟随器的第一位置，主源的第一位置和第二位置，曲线拟合。曲线适合同步从跟随器和主源，而不超过从属跟随器的预定边界。

3. 发明申请

US20090160504A1 METHODS AND SYSTEMS FOR SYNCHRONIZING A CONTROL SIGNAL OF A SLAVE FOLLOWER WITH A MASTER SOURCE 有权
标题翻译：用于同步主源的SLAVE FOLLOWER的控制信号的方法和系统
公开(公告)号：US20090160504A1
公开(公告)日：2009-06-25
申请号：US11961198
申请日：2007-12-20
申请人： William Lindsay Morrison , Daniel H. Miller
发明人： William Lindsay Morrison , Daniel H. Miller
IPC分类号： H03L7/00
CPC分类号： G05B19/414 , G05B2219/34135 , G05B2219/42186 , G05B2219/50231
摘要： A method for synchronizing a slave follower with a master source is provided. The method includes defining a relationship between the master source and the slave follower, inputting a first position of the master source, and inputting a first position of the slave follower. The method also includes defining a second position where the slave follower synchronizes with the master source, and fitting a curve between the first position of the slave follower the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.
摘要翻译：提供了一种用于使从跟随器与主源同步的方法。该方法包括定义主源和从跟随器之间的关系，输入主源的第一位置以及输入从跟随器的第一位置。该方法还包括定义第二位置，其中从跟随器与主源同步，并且在从跟随器的第一位置与第二位置之间拟合曲线。基于主源和从跟随器之间的关系，从跟随器的第一位置，主源的第一位置和第二位置，曲线拟合。曲线适合同步从跟随器和主源，而不超过从属跟随器的预定边界。

4. 发明授权

US08050800B2 Method and system for meeting end conditions in a motion control system 有权
标题翻译：满足运动控制系统终端条件的方法和系统
公开(公告)号：US08050800B2
公开(公告)日：2011-11-01
申请号：US11875911
申请日：2007-10-21
申请人： Daniel H. Miller , William Lindsay Morrison
发明人： Daniel H. Miller , William Lindsay Morrison
IPC分类号： G06F17/00 , G06F19/00 , G05B19/00 , G05B13/00 , G05B11/01 , G05B19/19
CPC分类号： G05B19/416 , G05B2219/34208 , G05B2219/42244 , G05B2219/42255 , G05B2219/43018 , G05B2219/43065
摘要： One embodiment of a system and method for meeting end conditions of a path plan utilizing a path generator that continuously generates commands for a path plan while tracking the total time expired in the path plan. The path generator computes the time remaining in the path plan and substitutes the remaining time for the length of the final sample period in the path plan when the length of the remaining time is less than the length of a full sample period.
摘要翻译：利用路径发生器满足路径规划的终止条件的系统和方法的一个实施例，该路径生成器连续生成用于路径规划的命令，同时跟踪路径规划中的总时间。当剩余时间的长度小于全采样周期的长度时，路径生成器计算路径规划中的剩余时间，并将剩余时间替换为路径规划中最后采样周期的长度。

5. 发明授权

US08024069B2 System and method for path planning 有权
标题翻译：路径规划的系统和方法
公开(公告)号：US08024069B2
公开(公告)日：2011-09-20
申请号：US12361170
申请日：2009-01-28
申请人： Daniel H. Miller , William Lindsay Morrison
发明人： Daniel H. Miller , William Lindsay Morrison
IPC分类号： G05B19/04 , G05B19/18 , G01C22/00 , G01C21/00 , G01C21/30 , G01C21/32 , G01C9/00 , G01C17/00 , G01C19/00 , G05D1/02 , G06F17/10 , G06G7/78
CPC分类号： G05B19/18 , B65C9/40 , G05B2219/25473 , G05B2219/42186 , G05B2219/42188
摘要： A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner. If the calculated elapsed time is one of greater than and less than a sample period, a current location of the second object in the second motion path is determined utilizing the calculated elapsed time, an expired time within a first segment of the plurality if segments between a start time of the first segment and the current sample call time is calculated, and an output command is generated from the path planner. Execution of the generated output command alters the first motion path.
摘要翻译：一种用于基于由第二对象的第二运动路径由路径规划器定义的第一运动路径中的第一对象的运动进行映射的方法。该方法包括使用路径规划器创建用于第一对象的第一运动路径，初始化第一运动路径内的第一对象的起始位置，确定第一运动中的多个段的每个段的初始条件的值由路径规划器创建的路径，以及计算路径规划器的当前采样呼叫时间与路径规划器的最后采样呼叫时间之间的经过时间。如果计算出的经过时间是大于和小于采样周期之一，则使用所计算的经过时间来确定第二运动路径中的第二对象的当前位置，在多个if之间的第一段内的到期时间计算第一段的开始时间和当前采样呼叫时间，并且从路径规划器生成输出命令。执行生成的输出命令改变第一个运动路径。

6. 发明申请

US20090105883A1 METHOD AND SYSTEM FOR MEETING END CONDITIONS IN A MOTION CONTROL SYSTEM 有权
标题翻译：在运动控制系统中会议结束条件的方法和系统
公开(公告)号：US20090105883A1
公开(公告)日：2009-04-23
申请号：US11875911
申请日：2007-10-21
申请人： Daniel H. Miller , William Lindsay Morrison
发明人： Daniel H. Miller , William Lindsay Morrison
IPC分类号： G05B15/00
CPC分类号： G05B19/416 , G05B2219/34208 , G05B2219/42244 , G05B2219/42255 , G05B2219/43018 , G05B2219/43065
摘要： One embodiment of a system and method for meeting end conditions of a path plan utilizing a path generator that continuously generates commands for a path plan while tracking the total time expired in the path plan. The path generator computes the time remaining in the path plan and substitutes the remaining time for the length of the final sample period in the path plan when the length of the remaining time is less than the length of a full sample period.
摘要翻译：利用路径发生器满足路径规划的终止条件的系统和方法的一个实施例，该路径生成器连续生成用于路径规划的命令，同时跟踪路径规划中的总时间。当剩余时间的长度小于全采样周期的长度时，路径生成器计算路径规划中的剩余时间，并将剩余时间替换为路径规划中最后采样周期的长度。

7. 发明授权

US07919940B2 System and method for jerk limited trajectory planning for a path planner 有权
标题翻译：用于路径规划器的混合有限轨迹规划的系统和方法
公开(公告)号：US07919940B2
公开(公告)日：2011-04-05
申请号：US11875913
申请日：2007-10-21
申请人： Daniel H. Miller , William Lindsay Morrison
发明人： Daniel H. Miller , William Lindsay Morrison
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/41408 , G05B2219/43168 , Y10S388/904
摘要： A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase includes monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control of the move in progress to reach a target position. The system further includes at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.
摘要翻译：用于实时生成运动曲线的系统包括处理器。处理器将进入第一阶段和第二阶段。第一阶段包括指示朝向恒定速度段的移动，而第二阶段包括监视第一阶段以确定在进行中的移动过程中何时需要实现成功达到结束条件所需的冲击值。处理器还基于运动曲线发送命令信号，并且计算第二阶段必须控制正在进行的移动以达到目标位置的点。该系统还包括至少一个接收命令信号的输入/输出模块。还提出了一种用于实时生成运动曲线的方法。

8. 发明申请

US20100191351A1 SYSTEM AND METHOD FOR PATH PLANNING 有权
标题翻译：用于路径规划的系统和方法
公开(公告)号：US20100191351A1
公开(公告)日：2010-07-29
申请号：US12361170
申请日：2009-01-28
申请人： Daniel H. Miller , William Lindsay Morrison
发明人： Daniel H. Miller , William Lindsay Morrison
IPC分类号： G05B19/18
CPC分类号： G05B19/18 , B65C9/40 , G05B2219/25473 , G05B2219/42186 , G05B2219/42188
摘要： A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner. If the calculated elapsed time is one of greater than and less than a sample period, a current location of the second object in the second motion path is determined utilizing the calculated elapsed time, an expired time within a first segment of the plurality if segments between a start time of the first segment and the current sample call time is calculated, and an output command is generated from the path planner. Execution of the generated output command alters the first motion path.
摘要翻译：一种用于基于由第二对象的第二运动路径由路径规划器定义的第一运动路径中的第一对象的运动进行映射的方法。该方法包括使用路径规划器创建用于第一对象的第一运动路径，初始化第一运动路径内的第一对象的起始位置，确定第一运动中的多个段的每个段的初始条件的值由路径规划器创建的路径，以及计算路径规划器的当前采样呼叫时间与路径规划器的最后采样呼叫时间之间的经过时间。如果计算出的经过时间是大于和小于采样周期之一，则使用所计算的经过时间来确定第二运动路径中的第二对象的当前位置，在多个if之间的第一段内的到期时间计算第一段的开始时间和当前采样呼叫时间，并且从路径规划器生成输出命令。执行生成的输出命令改变第一个运动路径。

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