System and method for jerk limited trajectory planning for a path planner
First Claim
1. A system for generating a motion profile in real time, the system comprising a processor, the processor configured to:
- break a move into a first phase and a second phase, the first phase comprising commanding the move toward a constant velocity segment, and the second phase comprising monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions;
calculate a jerk value required to successfully reach the end conditions for a current sample period (Jn);
calculate a jerk value required to successfully reach the end conditions for a next sample period (Jn+1); and
compare the calculated jerk value required for the current sample period (Jn) and the calculated jerk value required for the next sample period (Jn+1) to a commanded jerk value (Jc).
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Accused Products
Abstract
A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase includes monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control of the move in progress to reach a target position. The system further includes at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.
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Citations
20 Claims
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1. A system for generating a motion profile in real time, the system comprising a processor, the processor configured to:
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break a move into a first phase and a second phase, the first phase comprising commanding the move toward a constant velocity segment, and the second phase comprising monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions; calculate a jerk value required to successfully reach the end conditions for a current sample period (Jn); calculate a jerk value required to successfully reach the end conditions for a next sample period (Jn+1); and compare the calculated jerk value required for the current sample period (Jn) and the calculated jerk value required for the next sample period (Jn+1) to a commanded jerk value (Jc). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for generating a motion profile in real time, the system comprising:
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at least one input/output module configured to receive command signals; and a processor, the processor configured to; transmit the command signals based upon the motion profile; break a move into a first phase and a second phase; calculate a point at which the second phase must take control of a move in progress in order to reach a target position; calculate a jerk value required to successfully reach end conditions for a current sample period (Jn); calculate a jerk value required to successfully reach the end conditions for a next sample period (Jn+1); and compare the calculated jerk value required for the current sample period (Jn) and the calculated jerk value required for the next sample period (Jn+1) to a commanded jerk value (Jc). - View Dependent Claims (14, 15)
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16. A method for generating a motion profile in real time, the method comprising:
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breaking a move into a first phase and a second phase; commanding the move toward a constant velocity segment during the first phase; monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions; calculating a jerk value required to successfully reach the end conditions for a current sample period (Jn); calculating a jerk value required to successfully reach the end conditions for a next sample period (Jn+1); and comparing the calculated jerk value required for the current sample period (Jn) and the calculated jerk value required for the next sample period (Jn+1) to a commanded jerk value (Jc). - View Dependent Claims (17, 18, 19, 20)
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Specification