Regenerative actuation in motion control

  • US 8,082,062 B2
  • Filed: 06/08/2006
  • Issued: 12/20/2011
  • Est. Priority Date: 06/10/2005
  • Status: Active Grant
First Claim
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1. A method for controlling a motion controlled system, the method comprising:

  • generating, using the controller, a trajectory specifying a desired motion of the motion controlled system to a desired position for the motion controlled system in joint space or in task space;

    computing power to be applied to the motion controlled system to produce a motion moving the motion controlled system to a first position along the trajectory;

    generating, using the controller, a first control signal to supply energy to the motion controlled system to move the motion controlled system along the trajectory when the computed power is above a first predetermined level;

    generating, using the controller, a second control signal to draw energy from the motion controlled system as moves the motion controlled system along the trajectory when the computed power is below a second predetermined level; and

    generating, using the controller, a third control signal to store the regenerated energy.

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