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Method for Generating Trajectories for Motor Controlled Actuators

  • US 20130035773A1
  • Filed: 08/05/2011
  • Published: 02/07/2013
  • Est. Priority Date: 08/05/2011
  • Status: Active Grant
First Claim
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1. A method for generating a trajectory for a motion controlled actuator, comprising the steps of:

  • initializing data for solving a two-point boundary value problem (TBVP);

    solving the TBVP associated with a first cost function that represents energy consumption of a motion control system using the data and an analytical solver to obtain an analytic solution for unconstrained motor optimal control subject to boundary condition (BC);

    updating the BC and iterating beginning at the solving step if an acceleration constraint is violated;

    otherwiseupdating the BC and iterating beginning at the solving step if a velocity constraint is violated; and

    otherwisesetting the trajectory to the solution of the TBVP if the acceleration constraint and the velocity constraint are satisfied, wherein the steps are performed in a processor.

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