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1. 发明授权

US07529599B1 Systems and methods for coordination motion instructions 有权
标题翻译：协调运动指令的系统和方法
公开(公告)号：US07529599B1
公开(公告)日：2009-05-05
申请号：US10853674
申请日：2004-05-25
申请人： Jatin P. Bhatt , Jacob S. Baker , David R. Mowry , Stephen L. Steh , William C Schwarz
发明人： Jatin P. Bhatt , Jacob S. Baker , David R. Mowry , Stephen L. Steh , William C Schwarz
IPC分类号： B25J9/04 , G05B19/39 , G05B19/23 , G05B19/18
CPC分类号： B25J9/1664 , G05B19/19 , G05B2219/34095 , G05B2219/34177 , G05B2219/35585 , G05B2219/40395
摘要： The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion. In this manner, such instructions can provide smooth transitions from one coordinated move to the next.
摘要翻译：本发明提供在运动控制环境中整合和/或控制多个轴的运动的系统和方法。分组轴可以链接（例如，通过标签）以提供所需的多轴协调运动，以及为运动的相应方面（例如加速度，速度等）提供控制。这样的轴可以与其他控制功能集成，例如过程和/或机器控制，以向用户提供综合控制。上述可以提供用于以协调的方式在坐标系的多个轴中移动装置的简单机构。这种协调的移动功能可以为多维空间中的线性和圆形移动提供用户友好的界面。用于路径规划的算法可以沿着期望的运动路径提供快速执行和动态参数改变（例如，最大速度，加速和减速）。以这种方式，这样的指令可以提供从一个协调移动到下一个协调移动的平滑过渡。

2. 发明授权

US08000818B1 Systems and methods for coordination motion instructions 有权
标题翻译：协调运动指令的系统和方法
公开(公告)号：US08000818B1
公开(公告)日：2011-08-16
申请号：US12434884
申请日：2009-05-04
申请人： Jatin P. Bhatt , Jacob S. Baker , David R. Mowry , Stephen L. Steh , William C. Schwarz
发明人： Jatin P. Bhatt , Jacob S. Baker , David R. Mowry , Stephen L. Steh , William C. Schwarz
IPC分类号： G05B11/01 , G05B19/18 , G05B19/42 , G06F19/00
CPC分类号： B25J9/1664 , G05B19/19 , G05B2219/34095 , G05B2219/34177 , G05B2219/35585 , G05B2219/40395
摘要： The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion. In this manner, such instructions can provide smooth transitions from one coordinated move to the next.
摘要翻译：本发明提供在运动控制环境中整合和/或控制多个轴的运动的系统和方法。分组轴可以链接（例如，通过标签）以提供所需的多轴协调运动，以及为运动的相应方面（例如加速度，速度等）提供控制。这样的轴可以与其他控制功能集成，例如过程和/或机器控制，以向用户提供综合控制。上述可以提供用于以协调的方式在坐标系的多个轴中移动装置的简单机构。这种协调的移动功能可以为多维空间中的线性和圆形移动提供用户友好的界面。用于路径规划的算法可以沿着期望的运动路径提供快速执行和动态参数改变（例如，最大速度，加速和减速）。以这种方式，这样的指令可以提供从一个协调移动到下一个协调移动的平滑过渡。

3. 发明授权

US08290611B2 Blending algorithm for trajectory planning 有权
标题翻译：轨迹规划的混合算法
公开(公告)号：US08290611B2
公开(公告)日：2012-10-16
申请号：US13157670
申请日：2011-06-10
申请人： Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
发明人： Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
IPC分类号： G06F19/00
CPC分类号： G05B19/416 , B25J9/1664 , G05B2219/34175 , G05B2219/39242 , G05B2219/43009
摘要： The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.
摘要翻译：本示例性实施例涉及运动控制和规划算法，以便于执行运动轨迹内的一系列移动。在一个示例中，轨迹被指定为一个或多个路径段的序列。对于一个或多个路径段中的每一个计算速度分布，其中每个速度分布被分为混合区域，混合区域和其余区域。执行每个路径段，使得其速度轮廓的混合区域仅与先前轮廓的混合区域重叠。

4. 发明申请

US20090037021A1 BLENDING ALGORITHM FOR TRAJECTORY PLANNING 有权
标题翻译：用于TRAJECTORY规划的混合算法
公开(公告)号：US20090037021A1
公开(公告)日：2009-02-05
申请号：US11831414
申请日：2007-07-31
申请人： Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
发明人： Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
IPC分类号： G06F19/00
CPC分类号： G05B19/416 , B25J9/1664 , G05B2219/34175 , G05B2219/39242 , G05B2219/43009
摘要： The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.
摘要翻译：本示例性实施例涉及运动控制和规划算法，以便于执行运动轨迹内的一系列移动。在一个示例中，轨迹被指定为一个或多个路径段的序列。对于一个或多个路径段中的每一个计算速度分布，其中每个速度分布被分为混合区域，混合区域和其余区域。执行每个路径段，使得其速度轮廓的混合区域仅与先前轮廓的混合区域重叠。

5. 发明授权

US07266425B2 Systems and methods that facilitate motion control through coordinate system transformations 有权
标题翻译：通过坐标系变换促进运动控制的系统和方法
公开(公告)号：US07266425B2
公开(公告)日：2007-09-04
申请号：US10955068
申请日：2004-09-30
申请人： Jatin P. Bhatt , Fabio Malaspina , Michael Piatka , William C. Schwarz , Jeffery W. Brooks , Slobodan Milosevic
发明人： Jatin P. Bhatt , Fabio Malaspina , Michael Piatka , William C. Schwarz , Jeffery W. Brooks , Slobodan Milosevic
IPC分类号： G05B19/04 , G06F19/00 , G05B19/39
CPC分类号： B25J9/1658 , B25J9/1669 , G05B19/056 , G05B19/4086 , G05B2219/13106 , G05B2219/33263 , G05B2219/33269 , G05B2219/36038 , G05B2219/39139
摘要： The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them. The subject invention provides for connecting various systems together through respective motion instructions, wherein a motion of a source system is mapped to a coordinate system of a target system and the target system is moved accordingly.
摘要翻译：本发明涉及在工业控制环境中促进不同坐标系之间运动的系统和方法。系统和方法接受一个坐标系统中的数据，并将数据转换为不同的坐标系。合适的变换包括在笛卡尔坐标，预定义非笛卡尔坐标系和用户定义的非笛卡尔坐标系之间进行变换的指令，包括非笛卡尔坐标系与非笛卡尔坐标系之间的转换。这样的转换可以基本上以任何工业控制语言编程，并且可以与控制环境无缝集成。系统和方法可用于生成运动指令，其中包括源和目标坐标系以及它们之间的转换等信息。本发明提供通过相应的运动指令将各种系统连接在一起，其中源系统的运动被映射到目标系统的坐标系，并且目标系统相应地移动。

6. 发明申请

US20110307096A1 BLENDING ALGORITHM FOR TRAJECTORY PLANNING 有权
标题翻译：用于TRAJECTORY规划的混合算法
公开(公告)号：US20110307096A1
公开(公告)日：2011-12-15
申请号：US13157670
申请日：2011-06-10
申请人： Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
发明人： Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
IPC分类号： G05B19/04
CPC分类号： G05B19/416 , B25J9/1664 , G05B2219/34175 , G05B2219/39242 , G05B2219/43009
摘要： The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.
摘要翻译：本示例性实施例涉及运动控制和规划算法，以便于执行运动轨迹内的一系列移动。在一个示例中，轨迹被指定为一个或多个路径段的序列。对于一个或多个路径段中的每一个计算速度分布，其中每个速度分布被分为混合区域，混合区域和其余区域。执行每个路径段，使得其速度轮廓的混合区域仅与先前轮廓的混合区域重叠。

7. 发明授权

US08000838B2 Systems and methods that facilitate motion control through coordinate system transformations 有权
标题翻译：通过坐标系变换促进运动控制的系统和方法
公开(公告)号：US08000838B2
公开(公告)日：2011-08-16
申请号：US11848926
申请日：2007-08-31
申请人： Jatin P. Bhatt , Fabio Malaspina , Michael Piatka , William C. Schwarz , Jeffrey W. Brooks , Slobodan Milosevic
发明人： Jatin P. Bhatt , Fabio Malaspina , Michael Piatka , William C. Schwarz , Jeffrey W. Brooks , Slobodan Milosevic
IPC分类号： G05B19/19 , G05B19/04
CPC分类号： B25J9/1658 , B25J9/1669 , G05B19/056 , G05B19/4086 , G05B2219/13106 , G05B2219/33263 , G05B2219/33269 , G05B2219/36038 , G05B2219/39139
摘要： The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them. The subject invention provides for connecting various systems together through respective motion instructions, wherein a motion of a source system is mapped to a coordinate system of a target system and the target system is moved accordingly.
摘要翻译：本发明涉及在工业控制环境中促进不同坐标系之间运动的系统和方法。系统和方法接受一个坐标系统中的数据，并将数据转换为不同的坐标系。合适的变换包括在笛卡尔坐标，预定义非笛卡尔坐标系和用户定义的非笛卡尔坐标系之间进行变换的指令，包括非笛卡尔坐标系与非笛卡尔坐标系之间的转换。这样的转换可以基本上以任何工业控制语言编程，并且可以与控制环境无缝集成。系统和方法可用于生成运动指令，其中包括源和目标坐标系以及它们之间的转换等信息。本发明提供了通过相应的运动指令将各种系统连接在一起，其中源系统的运动被映射到目标系统的坐标系，并且目标系统相应地移动。

8. 发明授权

US07979158B2 Blending algorithm for trajectory planning 有权
标题翻译：轨迹规划的混合算法
公开(公告)号：US07979158B2
公开(公告)日：2011-07-12
申请号：US11831414
申请日：2007-07-31
申请人： Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
发明人： Bohumir Sladek , Jatin P. Bhatt , William C. Schwarz , Bhanu K. Gouda
IPC分类号： G05B19/04
CPC分类号： G05B19/416 , B25J9/1664 , G05B2219/34175 , G05B2219/39242 , G05B2219/43009
摘要： The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.
摘要翻译：本示例性实施例涉及运动控制和规划算法，以便于执行运动轨迹内的一系列移动。在一个示例中，轨迹被指定为一个或多个路径段的序列。对于一个或多个路径段中的每一个计算速度分布，其中每个速度分布被分为混合区域，混合区域和其余区域。执行每个路径段，使得其速度轮廓的混合区域仅与先前轮廓的混合区域重叠。

9. 发明授权

US07180253B2 Method and system for generating multi-dimensional motion profiles 有权
标题翻译：用于生成多维运动曲线的方法和系统
公开(公告)号：US07180253B2
公开(公告)日：2007-02-20
申请号：US10675100
申请日：2003-09-30
申请人： Juergen K. Weinhofer , Jatin P. Bhatt , William C. Schwarz
发明人： Juergen K. Weinhofer , Jatin P. Bhatt , William C. Schwarz
IPC分类号： G05B19/18 , G05B11/32 , H02P5/46 , G06F19/00
CPC分类号： B25J9/1664 , G05B19/19 , G05B2219/34095 , G05B2219/34177 , G05B2219/35585 , G05B2219/40395
摘要： A motion control system comprises control logic and a programming interface. The programming interface is configured to permit a user to specify a plurality of non-tangential path segments, and the control logic is configured to generate a plurality of additional connecting path segments substantially extending between and connecting the non-tangential path segments. The motion control system is configured to generate control signals to control operation of a plurality of motors to drive movement of a controlled element along a path defined by the non-tangential path segments and the additional connecting path segments.
摘要翻译：运动控制系统包括控制逻辑和编程接口。编程接口被配置为允许用户指定多个非切向路径段，并且控制逻辑被配置为生成基本上在非切向路径段之间延伸并连接非切向路径段的多个附加连接路径段。运动控制系统被配置为产生控制信号以控制多个电动机的操作，以驱动受控元件沿着由非切向路径段和附加连接路径段限定的路径的移动。

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