Systems and methods for programming motion control
First Claim
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1. A method, for moving one or more loads using a plurality of load actuators coupled to a processor programmable with actuator commands to manipulate said plurality of load actuators so as to result in said plurality of load actuators actuating a behavior of said one or more loads, said method comprising the steps of:
- receiving commands specifying a desired behavior of the one or more loads, the commands based on a received input of a desired velocity to move the one or more loads;
determining that the desired velocity is not obtainable;
in response to determining that the desired velocity is not obtainable, determining, using stored and/or entered capabilities information of said system and/or said plurality of load actuators, actuator commands that result in an obtainable behavior of the one or more loads based on a capability of the plurality of load actuators, and an acceleration limit associated with the one or more loads, wherein a velocity of the obtainable behavior is different than a velocity of the desired behavior; and
moving the one or more loads at the velocity associated with the obtainable behavior.
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Abstract
Systems, methods and computer program code for the programming of motion control in load transportation systems are provided which may include programming motion control by specifying desired load motions.
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Citations
16 Claims
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1. A method, for moving one or more loads using a plurality of load actuators coupled to a processor programmable with actuator commands to manipulate said plurality of load actuators so as to result in said plurality of load actuators actuating a behavior of said one or more loads, said method comprising the steps of:
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receiving commands specifying a desired behavior of the one or more loads, the commands based on a received input of a desired velocity to move the one or more loads; determining that the desired velocity is not obtainable; in response to determining that the desired velocity is not obtainable, determining, using stored and/or entered capabilities information of said system and/or said plurality of load actuators, actuator commands that result in an obtainable behavior of the one or more loads based on a capability of the plurality of load actuators, and an acceleration limit associated with the one or more loads, wherein a velocity of the obtainable behavior is different than a velocity of the desired behavior; and moving the one or more loads at the velocity associated with the obtainable behavior. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification