Trajectory Generator Constraint Adaptation for Position-Based Moves
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Solution Overview
Problem
Existing motion control systems face challenges in generating smooth s-curve profiles for position-based moves, as specified constraints such as velocity, acceleration, and deceleration often result in the move being terminated before zero velocity is reached, violating deceleration constraints and exceeding the desired trajectory length.
Innovation Solution
A method and system for adapting move constraints in a trajectory generator, which involves receiving user-specified trajectory and constraint specifications, generating a motion control profile using s-curve kinematic equations, and adjusting constraints like acceleration, deceleration, and jerk to ensure the profile's distance does not exceed the desired trajectory length, by reducing Amax, Dmax, and other parameters until the motion control profile meets the constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If constraints (velocity, acceleration, deceleration) are specified independently from position values, then the motion control profile can be generated based on kinematic equations, but the distance covered may exceed the desired trajectory length, causing premature termination and violation of deceleration constraints
Solution Approach 1:
The patent performs preliminary calculation of the motion control profile distance using kinematic equations before executing the actual move. By comparing the calculated distance with the desired trajectory length in advance, the system can detect potential violations and adjust constraints beforehand, preventing premature termination and deceleration constraint violations.
Solution Approach 2:
The patent replaces manual iterative adjustment of constraints with an automated computational system that uses kinematic equations to calculate the motion profile and automatically adjusts constraints based on the distance comparison, eliminating the need for manual trial-and-error tuning.
2Reliability
If the motion control profile distance exceeds the desired trajectory length, then the move is terminated early, but this causes violation of deceleration constraints and prevents smooth completion
Solution Approach 1:
The patent implements a feedback mechanism where the calculated motion control profile distance is compared with the desired trajectory length. Based on this comparison, the system provides feedback to adjust the constraints (velocity, acceleration, deceleration) to ensure the profile distance matches or is less than the desired length, guaranteeing constraint compliance while maintaining move completion.
3Adaptability or versatility
If s-curve profile generation with pre-emption is supported, then position-based moves with multiple constraints can be handled, but the trajectory generator implementation becomes highly complicated
Solution Approach 1:
The patent segments the motion control profile into distinct phases (acceleration phase, constant velocity phase, deceleration phase) and calculates the distance for each phase separately using kinematic equations. This segmentation approach simplifies the overall calculation by breaking down the complex s-curve profile generation into manageable segments, each with its own distance calculation.
Data Source
AI summary
Adapting move constraints for position based moves in a trajectory generator. Specification of a trajectory may be received. The specification may include a geometry of the trajectory, where the geometry specifies a desired trajectory length. A plurality of constraints for the trajectory may be received. The plurality of constraints may include one or more of a velocity, acceleration, or jerk constraint. A motion control profile may be generated based on the plurality of constraints. The method may include determining if a distance of the motion control profile exceeds the desired trajectory length. If the distance of the motion control profile exceeds the desired trajectory length, one or more values of the plurality of constraints may be decreased to make the distance of the motion control profile less than or equal to the desired trajectory length.