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    • 7. 发明授权
    • System for motion control, method of using the system for motion control, and computer readable instructions for use with the system for motion control
    • 用于运动控制的系统,使用该系统进行运动控制的方法以及用于运动控制的系统的计算机可读指令
    • US07143301B2
    • 2006-11-28
    • US11120207
    • 2005-05-03
    • Robert PearceDavid Cline
    • Robert PearceDavid Cline
    • G06F1/12G06F13/42G06F15/16H03K4/90H03L7/00H04J3/06G05B11/01
    • H04J3/0682H04J3/062H04J3/0638H04L7/08H04L12/4035H04L12/417H04L12/422H04L12/423H04L2012/4026
    • A motion control system and method that includes a central controller configured to generate first and second demand control signals to be used to define actuation motion of respective first and second actuators. The central controller is in communication with first and second nodes by way of a data network, each node including at least a respective actuator configured to implement at an actuator time a motion or force-related effort based upon the respective demand control signal. Each node also includes a memory configured to store at least one respective propagation delay parameter related to a signal propagation delay between the central controller and the node. A timing mechanism establishes timing at each node based on the respective propagation delay parameter so that the actuator time at the nodes occurs simultaneously. Strictly cyclic and/or full-duplex high-speed communication can be supported. The network can be wired in a ring or as a tree and with twisted pair cabling or fiber. The central controller issues demand signals to the nodes that are actuator, servo motor drive, and/or I/O devices. The central controller can also provide a timing message that is used by the nodes, in conjunction with local delay correction circuitry, so that the simultaneous acquisition of data and the simultaneous implementation of controlled action occur.
    • 一种运动控制系统和方法,包括中央控制器,所述中央控制器被配置为产生用于限定相应的第一和第二致动器的致动运动的第一和第二需求控制信号。 中央控制器通过数据网络与第一和第二节点通信,每个节点至少包括相应的致动器,其被配置为在执行器时间基于相应的需求控制信号实现运动或与力相关的努力。 每个节点还包括被配置为存储与中央控制器和节点之间的信号传播延迟相关的至少一个相应的传播延迟参数的存储器。 定时机制基于相应的传播延迟参数在每个节点建立定时,使得节点处的执行器时间同时发生。 可以支持严格循环和/或全双工高速通信。 网络可以以环形或树状布线,双绞线或光纤连接。 中央控制器向执行器,伺服电机驱动器和/或I / O设备的节点发出需求信号。 中央控制器还可以提供节点使用的定时消息,结合本地延迟校正电路,从而发生同时采集数据和同时执行受控动作。