Apparatus and method of distributed object handling
First Claim
1. A method of determining trajectories for recording media object handling, comprising:
- specifying a system model of a media handling apparatus;
specifying at least one of explicitly represented system constraints and explicitly represented task requirements of the media handling apparatus; and
determining a specified trajectory in a trajectory space for a specified recording media object to accomplish a system function based on the specified system model and the specified ones of the explicitly represented system constraints and task requirements, the explicitly represented task requirements corresponding to one or more media handling apparatus tasks of;
moving the recording media object through the media handling apparatus, inverting the recording media object through the media handling apparatus, decurling the recording media object, transferring an image on the recording media object, and fusing an image on the recording media object.
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Abstract
A modular object handling system has a multi-level control architecture, which includes a system controller that coordinates the functions and/or operations of individual module controllers, that in turn control corresponding actuators, to provide a desired system function. The system controller performs the overall trajectory planning by taking the constraints of each of the module actuators into account. The system controller may compensate for deviations of objects from their planned trajectories by contemporaneously redetermining trajectories and trajectory envelopes to encode the various combinations of the system constraints and task requirements. The trajectory envelopes can denote regions around other trajectories to indicate control criteria of interest, such as control and collision boundaries. However, by predetermining the trajectories and trajectory envelopes, and comparing the current state of an object with the predetermined trajectory envelopes, the system controller can even more quickly determine the extent to which the state satisfies the criteria. Thus, this system simplifies on-line determinations to merely include a comparison between a particular object, a particular trajectory and the corresponding trajectory envelope. It is also desirable to predetermine trajectories and trajectory envelopes by explicitly representing the system constraints and/or task requirements. By explicitly representing the system constraints and/or task requirements, the trajectories and trajectory envelopes can be automatically predetermined when adding new constraints to an existing system, or upon creating a new system once the arrangement of module actuators is known.
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Citations
24 Claims
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1. A method of determining trajectories for recording media object handling, comprising:
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specifying a system model of a media handling apparatus;
specifying at least one of explicitly represented system constraints and explicitly represented task requirements of the media handling apparatus; and
determining a specified trajectory in a trajectory space for a specified recording media object to accomplish a system function based on the specified system model and the specified ones of the explicitly represented system constraints and task requirements, the explicitly represented task requirements corresponding to one or more media handling apparatus tasks of;
moving the recording media object through the media handling apparatus, inverting the recording media object through the media handling apparatus, decurling the recording media object, transferring an image on the recording media object, and fusing an image on the recording media object.- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An apparatus that determines trajectories of recording media objects that are movable along a path of a media handling system, the apparatus comprising:
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a device that determines a specified trajectory in a trajectory space for a specified recording media object to accomplish a system function of the media handling system based on a specified system model of the media handling system and at least one of at least one specified explicitly represented system constraint of the media handling system and at least one specified explicitly represented task requirement of the media handling system, the at least one specified explicitly represented task requirement corresponding to one or more media handling apparatus tasks of;
moving the recording media object through the media handling apparatus, inverting the recording media object through the media handling apparatus, decurling the recording media object, transferring an image on the recording media object, and fusing an image on the recording media object.- View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24)
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Specification