Multi-Drive Movement Profile Segmentation for Faster Optimization
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Solution Overview
Problem
The complexity in calculating movement profiles for multiple drives in technical systems, such as robots, makes it difficult to optimize and simplify the creation of these profiles, especially when considering spatially non-convex constraints and physical boundary conditions.
Innovation Solution
A method that divides the original movement profile into partial movement profiles, optimizes each independently, and then combines them to form an optimized overall movement profile, which can be used to control drives in technical systems, taking into account physical boundary conditions and energy efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an original movement profile is optimized directly, then the optimization accuracy is improved, but the calculation complexity increases significantly
Solution Approach 1:
The original movement profile is divided into multiple partial movement profiles, each corresponding to a specific drive. This segmentation allows each partial profile to be optimized independently, significantly reducing the overall calculation complexity while maintaining optimization accuracy for each individual drive.
2Ease of operation
If manual creation of movement profiles is used, then the ease of operation is improved, but the productivity decreases
Solution Approach 1:
The system automatically performs preliminary division of the movement profile into partial profiles and applies optimization algorithms to each segment. This preliminary automated action eliminates the need for manual creation while maintaining operational simplicity, thereby significantly improving productivity.
3Productivity
If optimization without physical boundary conditions is performed, then the productivity is improved, but the reliability decreases
Solution Approach 1:
Physical boundary conditions are applied locally to each partial movement profile during optimization. This allows the optimization process to proceed efficiently at each local level while ensuring that all solutions meet the required physical feasibility constraints, thus maintaining both productivity and reliability.
Data Source
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AI summary
In summary, the invention relates to a method for providing an optimized movement profile (S*). To create the optimized movement profile (S*), a movement profile is broken down into partial movement profiles (S1, S2, S3). The partial movement profiles (S1, S2, S3) are advantageously each linearly independent, i.e. the partial movement profiles (S1, S2) are based, for example, on independent alignments (phi) and/or directions (x, y, z) and/or they describe movements of at least one actuator (EE) for different spatial directions (x, y, z). The partial movement profiles (S1, S2, S3) are optimized independently of one another with the aid of at least one optimization method (Opt). Physical boundary conditions (RB) can advantageously be taken into account when optimizing the partial movement profiles (S1, S2, S3). Following the optimization of the partial movement profiles (S1, S2), the optimized partial movement profiles (S1*, S2*, S3*) can be reassembled to form the optimized movement profile (S*). The optimized movement profile (S*) and/or the optimized partial movement profiles (S1*, S2*) can thus be calculated particularly easily and quickly. Movement specifications for at least one drive (A1, A2, A3) of the technical system (TS) are provided from the optimized partial movement profiles (S1*, S2*, S3*) or the optimized movement profile (S*).