Regenerative actuation in motion control
First Claim
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1. A method for controlling a motion controlled system, the method comprising:
- computing power to be applied to the motion controlled system to generate a predetermined motion;
generating a first control signal to supply energy to the motion controlled system if the computed power is above a first predetermined level;
generating a second control signal to draw energy from the motion controlled system if the computed power is below a second predetermined level; and
generating a third control signal to store the energy drawn from the motion controlled system.
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Abstract
A motion controlled system for a robotic system stores energy when the robotic system uses negative power and releases the stored energy when the robotic system uses positive power. The motion controlled system calculates the power for causing the robotic system to follow a prescribed motion and applies the appropriate control signals to the robotic system in response to detected parameters of the robotic system.
119 Citations
21 Claims
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1. A method for controlling a motion controlled system, the method comprising:
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computing power to be applied to the motion controlled system to generate a predetermined motion;
generating a first control signal to supply energy to the motion controlled system if the computed power is above a first predetermined level;
generating a second control signal to draw energy from the motion controlled system if the computed power is below a second predetermined level; and
generating a third control signal to store the energy drawn from the motion controlled system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system comprising:
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a motion controlled system for controlling motion of a structure in response to first, second and third control signals;
a controller for computing power to be applied to the motion controlled system to generate a predetermined motion, for generating the first control signed to supply energy to the motion controlled system if the computed power is above a first predetermined level, for generating the second control signal to draw energy from the motion controlled system if the computed power is below a second predetermined level; and
for generating the third control signal to store the energy drawn from the motion controlled system. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification