3D Path Control Using Velocity and Look-Ahead Vectors
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Solution Overview
Problem
Current systems for automated movement of components are limited in their ability to navigate three-dimensional paths, often relying on pre-defined paths and lacking the complexity to efficiently operate in dynamic environments.
Innovation Solution
A system that includes a movable component with a controller capable of determining velocity and directional vectors to guide movement along a three-dimensional path, using a reference point, look ahead point, and scaling vectors to ensure smooth and efficient navigation, while avoiding collisions and optimizing path adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If pre-defined paths are used for automated movement, then device complexity is reduced, but adaptability to dynamic environments deteriorates
Solution Approach 1:
The system dynamically generates three-dimensional paths in real-time based on current position, velocity, and environmental conditions rather than following pre-defined static paths. The path generation adapts to dynamic environments by continuously calculating new velocity vectors and look-ahead points, allowing the system to respond to changing conditions while maintaining manageable complexity through algorithmic path planning.
2Adaptability or versatility
If three dimensional path calculation is implemented, then adaptability to dynamic environments is improved, but device complexity increases
Solution Approach 1:
The three-dimensional path control is segmented into distinct computational components: determining current velocity vectors, calculating look-ahead points at predetermined distances, generating directional vectors, and computing command vectors. This segmentation allows the complex three-dimensional navigation to be broken down into manageable computational steps, reducing overall system complexity while maintaining adaptability.
Solution Approach 2:
The system performs preliminary calculations by determining look-ahead points at predetermined distances along the desired path before executing movement commands. This preliminary action allows the controller to plan future positions and velocities in advance, enabling smooth three-dimensional navigation while simplifying real-time control decisions.
3Manufacturing precision
If velocity vectors and look ahead vectors are used for path following, then manufacturing precision of path trajectory is improved, but device complexity increases
Solution Approach 1:
The system uses feedback by continuously comparing the current position and velocity with the desired path trajectory. The controller determines velocity vectors based on current state and generates command vectors that correct deviations from the desired path, maintaining high trajectory precision through continuous feedback control while managing complexity through systematic error correction.
Solution Approach 2:
The system transitions from two-dimensional path following to three-dimensional path navigation by incorporating vertical dimension calculations. The controller determines three-dimensional velocity vectors and look-ahead points that account for elevation changes, enabling precise three-dimensional trajectory control by adding the vertical dimension to the traditional horizontal plane navigation.
Data Source
AI summary
A system for automated movement of a reference point along a three dimensional path stores a three dimensional path including a plurality of spaced apart points. A velocity vector of the reference point and a look ahead vector extending from the reference point define a plane of travel. A directional vector of the reference point is determined along the plane of travel, and a command vector directs movement of the reference point at least in part based upon the directional vector. The velocity vector and the look ahead vector may be used to determine the directional vector. A method is also provided.