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11. 发明授权

US07450127B2 Method of tolerance-based trajectory planning 有权
标题翻译：基于容差的轨迹规划方法
公开(公告)号：US07450127B2
公开(公告)日：2008-11-11
申请号：US11277305
申请日：2006-03-23
申请人： Jiawei Hong , Xiaonan Tan
发明人： Jiawei Hong , Xiaonan Tan
IPC分类号： G06T15/00
CPC分类号： G05B19/4163 , G05B19/41 , G05B19/4103 , G05B19/416 , G05B2219/34171 , G05B2219/34175 , G05B2219/43057 , G05B2219/43199 , G05B2219/43203 , G05B2219/50179
摘要： A method of controlling movement of a body at spaced apart instances along a trajectory in a multi-dimensional environment by determining a current position of the body at a current instance, determining an ideal point on the trajectory, determining a vector difference between the current position and the ideal point, and adjusting the body's velocity for a subsequent instance based on the vector difference. The method may be used in motion control systems for computer-controllable machine tools.
摘要翻译：一种通过在当前实例中确定身体的当前位置来确定身体在多维环境中的轨迹的情况下控制身体的移动的方法，确定轨迹上的理想点，确定当前位置和理想点，并且基于向量差调整后续实例的身体速度。该方法可用于计算机可控机床的运动控制系统。

12. 发明申请

US20070091094A1 METHOD OF PERFORMING ADDITIVE LOOKAHEAD FOR ADAPTIVE CUTTING FEEDRATE CONTROL 有权
标题翻译：用于自适应切割进料控制的添加剂预处理方法
公开(公告)号：US20070091094A1
公开(公告)日：2007-04-26
申请号：US11277291
申请日：2006-03-23
申请人： Jiawei Hong , Xiaonan Tan
发明人： Jiawei Hong , Xiaonan Tan
IPC分类号： G06T15/70
CPC分类号： G05B19/4163 , G05B19/41 , G05B19/4103 , G05B19/416 , G05B2219/34171 , G05B2219/34175 , G05B2219/43057 , G05B2219/43199 , G05B2219/43203 , G05B2219/50179
摘要： The present invention involves a method of processing path data for a motive body. The control identifies a plurality of points along a target path, determines a maximum allowable stopping distance of the motive body at a last of the points, and ascertains a last maximum allowable speed of the motive body at the last point such that the motive body may come to a stop within the maximum allowable stopping distance. An other maximum allowable speed of the motive body is established at an other one of the points such that the motive body may possibly slow down to the last maximum allowable speed upon arriving at the last point.
摘要翻译：本发明涉及一种处理动力体的路径数据的方法。该控制装置识别出沿着目标路径的多个点，确定最后一个点处的动力体的最大允许停止距离，并且确定最终点处的动力体的最后最大允许速度，使得动作体可以在最大允许停车距离内停下来。在另一个点建立动力体的另一个最大允许速度，使得在达到最后点时动力体可能会减慢到最后的最大允许速度。

13. 发明申请

US20070046677A1 METHOD OF TOLERANCE-BASED TRAJECTORY PLANNING 有权
标题翻译：基于公差的轨迹规划方法
公开(公告)号：US20070046677A1
公开(公告)日：2007-03-01
申请号：US11277305
申请日：2006-03-23
申请人： Jiawei Hong , Xiaonan Tan
发明人： Jiawei Hong , Xiaonan Tan
IPC分类号： G06T11/20
CPC分类号： G05B19/4163 , G05B19/41 , G05B19/4103 , G05B19/416 , G05B2219/34171 , G05B2219/34175 , G05B2219/43057 , G05B2219/43199 , G05B2219/43203 , G05B2219/50179
摘要： The present invention involves a method of operating a motive body, where a target path is identified. The motive body is commanded to follow the target path from an initial position. The first actual position is sensed of the motive body after the commanding step. A first target subpath is calculated from the first actual position to correct for predictive errors in movement of the motive body. The actual position of the motive body is determined along each of a plurality of axes, and a multi-dimensional position error between the actual position of the motive body in each of the axes and a multi-dimensional reference trajectory is calculated. A multi-dimensional position error signal dependent upon the calculating step is determined. At least one of a speed and a direction of the motive body is established dependent upon the multi-dimensional position error signal.
摘要翻译：本发明涉及一种运动目标路径被识别的运动体的方法。指挥机构从初始位置跟随目标路径。在命令步骤之后，感测到第一实际位置上的动作体。从第一实际位置计算第一目标子路径，以校正运动中运动中的预测误差。按照多个轴中的每一个确定动作体的实际位置，计算出各动作体的实际位置与多维基准轨迹之间的多维位置误差。确定取决于计算步骤的多维位置误差信号。取决于多维位置误差信号建立动力体的速度和方向中的至少一个。

14. 发明授权

US06242880B1 Tolerance based motion control system 有权
标题翻译：基于公差的运动控制系统
公开(公告)号：US06242880B1
公开(公告)日：2001-06-05
申请号：US09388114
申请日：1999-09-01
申请人： Jaiwei Hong
发明人： Jaiwei Hong
IPC分类号： G05B1300
CPC分类号： G05B19/416 , G05B2219/43203 , G05B2219/50179
摘要： The present invetion involves a tolerance based motion controller. The controller is capable of processing a group of tolerance constraints. The tolerance constraints specify where and when each tolerance constraint is to be applied, along with the information specifying the desired trajectory of motion. There are also a group of velocity constraints, specifying the maximum allowable velocity at each point along the desired trajectory. This information along with sensor feedback is used to modify the velocity along the actual trajectory of motion. This results in the time required traverse the trajectory being as short as possible. Also, the actual trajectory of motion should never exceed the permissible deviation from the desired trajectory, as specified by the tolerance constraints, with the velocity always being bounded by the specified velocity constraint.
摘要翻译：本次邀请涉及一个基于公差的运动控制器。控制器能够处理一组公差约束。公差约束指定应用每个公差约束的何时和何时以及指定所需运动轨迹的信息。还有一组速度约束，指定沿所需轨迹的每个点的最大允许速度。该信息与传感器反馈一起用于沿着实际运动轨迹修改速度。这导致所需的时间越过轨迹尽可能短。此外，运动的实际轨迹不应超过由公差约束规定的所需轨迹的允许偏差，速度总是受到指定速度约束的限制。

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