Multi-Axis Trajectory Control Using Parabolic Obstacle Clearance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing multi-axis machines struggle to move objects efficiently and smoothly between start and target positions, often experiencing shaking and prolonged movement times due to limitations in trajectory control and jerk management.
Innovation Solution
A control device determines a throwing parabola trajectory section, utilizing drives connected to each axis, which allows for quick movement by overcoming friction and minimizing jerks, even in non-standard gravitational conditions, with a horizontal and vertical axis configuration enabling efficient two-dimensional movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional trajectory control methods are used with multiple straight line sections, then the machine can move the object from start to target position, but the movement is slow and causes shaking due to frequent acceleration and deceleration
Solution Approach 1:
The patent applies curved trajectory sections (parabolic arcs) instead of straight line sections to enable smoother transitions between movement phases. The parabolic trajectory allows the object to maintain higher speeds while reducing abrupt changes in acceleration, thereby minimizing shaking and jerks during movement from start to target position.
Solution Approach 2:
The patent dynamically adjusts acceleration and velocity profiles along the trajectory, using variable acceleration phases that match the parabolic curve geometry. This dynamic control allows the system to optimize speed while maintaining smooth motion, avoiding the constant acceleration-deceleration cycles of traditional straight-line approaches.
2Productivity
If the machine uses conventional trajectory sections with frequent direction changes, then it can navigate obstacles, but the movement time increases and productivity decreases
Solution Approach 1:
By using parabolic curved sections instead of multiple straight line segments, the patent reduces the number of trajectory discontinuities and direction changes needed to navigate obstacles. This curved approach allows smoother obstacle clearance with fewer acceleration cycles, directly reducing movement time and improving productivity.
Solution Approach 2:
The parabolic trajectory enables more continuous motion with fewer interruptions in the useful action. The smooth curved path maintains momentum better than straight-line approaches, reducing idle deceleration periods and keeping the object in motion longer, thereby improving overall movement efficiency and reducing total movement time.
3Manufacturing precision
If the trajectory control uses multiple acceleration and deceleration phases, then the object can follow the path accurately, but the number of jerks increases causing vibration and reduced movement smoothness
Solution Approach 1:
The parabolic curved trajectory inherently provides smoother transitions between movement phases compared to straight-line sections. The continuous curvature of the parabola allows for more gradual changes in direction and acceleration, maintaining trajectory accuracy while reducing the number of sharp jerks that cause vibration and instability.
Solution Approach 2:
The patent uses periodic acceleration and deceleration phases that are synchronized with the parabolic trajectory geometry. These periodic control actions are smoothly modulated to match the curve's characteristics, ensuring accurate path following while minimizing abrupt changes that would reduce movement smoothness and increase vibration.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables fast, jerk-free movement with reduced shaking, optimizing time and force requirements, particularly effective in overcoming obstacles with minimal additional acceleration beyond gravitational forces.
Implementation Method 1
the drives in this section of the movement essentially have to overcome the friction and move the machine elements that do not move exactly along the throw parabola with gravitational acceleration
Implementation Method 2
move the machine elements that do not move exactly along the throw parabola with gravitational acceleration
Data Source
Figure 1a~1c
Figure 2
Figure 3a~3c
AI summary
The invention relates to a machine comprising at least two axles with which a drive is respectively associated, and to corresponding methods. A control device is connected to the drives, and an object that can be displaced by the machine is provided, in addition to a real or virtual obstacle to be overcome by the object. The control device comprises means for determining a trajectory, provided with means for determining a parabola trajectory section.