Automation system and method for movement control of at least one moveable machine element
First Claim
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1. A programmable automation system for controlling the movement of at least one movable machine element, the automation system comprising:
- a memory;
a profile, stored in the memory, for movement control that is prescribed as a function of a higher degree, the profile comprising at least one command variable and a secondary variable, the command variable representing a physical variable that is of a different type from the secondary variable and at least one of the variables comprising a time-dependent variable, wherein the profile is created based on the command variable, and wherein the profile is defined without any units, and wherein the profile comprises a combination of a plurality of segments, the plurality of segments of the profile formed from mathematical functions, and wherein at least two individual unconnected segments of polynomial functions associated with the plurality of segments can be connected with a transitional segment and the transitional segment comprises at least a function of a spline interpolation; and
a program for activating the profile.
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Abstract
In order to improve movement control in an automation system for movement control, profiles for movement control are freely defined via functions. Polynomial interpolations or spline interpolations are used for the defined functions, the interpolations being of a higher degree. The profile for movement control has a command variable and a secondary variable, at least one of which is time-based or position-related.
53 Citations
21 Claims
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1. A programmable automation system for controlling the movement of at least one movable machine element, the automation system comprising:
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a memory; a profile, stored in the memory, for movement control that is prescribed as a function of a higher degree, the profile comprising at least one command variable and a secondary variable, the command variable representing a physical variable that is of a different type from the secondary variable and at least one of the variables comprising a time-dependent variable, wherein the profile is created based on the command variable, and wherein the profile is defined without any units, and wherein the profile comprises a combination of a plurality of segments, the plurality of segments of the profile formed from mathematical functions, and wherein at least two individual unconnected segments of polynomial functions associated with the plurality of segments can be connected with a transitional segment and the transitional segment comprises at least a function of a spline interpolation; and a program for activating the profile. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for controlling the movement of at least one moveable machine element of one of the group consisting of an automated machine tool, an automated production machine, and an automated manipulator, the method comprising the steps of:
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(a) providing a profile for movement control as a function of a higher degree that is one selected from the group consisting of a freely parameterized profile and a created profile, wherein the profile is defined without any units, and wherein a plurality of segments associated with the profile are formed by functions, after which the profile is formed by a combination of the plurality of segments, wherein at least two individual unconnected segments of polynomial functions associated with the plurality of segments can be connected with a transitional segment and the transitional segment comprises at least a function of a spline interpolation; (b) providing at least one command variable and a secondary variable, wherein a physical variable that is of a different type from the secondary variable is determined as the command variable; (c) determining a time-dependent variable as at least one of the command variable and the secondary variable; and (d) controlling, by a computer, the movement of the at least one moveable machine element based upon the command variable and the secondary variable. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. An engineering system for creating a profile for movement control as a freely creatable function of a higher degree, the system comprising:
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a user program for creating the profile to be stored in memory, wherein the profile is based on at least one selected command variable and a secondary variable, the command variable representing a physical variable that is of a different type from the secondary variable and at least one of the variables comprising a time-dependent variable; and a memory to store the profile, wherein the profile is defined without any units, and wherein a plurality of segments associated with the profile are formed by functions, after which the profile is formed by a combination of the plurality of segments, wherein at least two individual unconnected segments of polynomial functions associated with the plurality of segments can be connected with a transitional segment and the transitional segment comprises at least a function of a spline interpolation. - View Dependent Claims (19, 20, 21)
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Specification