Real-time positioning of robot by eliminating non-deterministic deceleration.
Original Publication Date: 2000-Sep-01
Included in the Prior Art Database: 2003-Jun-18
Robot with non-deterministic characteristics Given a robot with a positioning interface including smooth braking to its final position and no feedback to the positioning interface, this article describes a method for moving the robot in a time predictable manner. Generally a robot with smooth braking is given a target position and accelerates the required motors (up to a maximum) to achieve this position and then decelerates continuously until the desired position is reached. The motor speed and the time to reach any point is therefore dependent on the distance between the start and end points and load on the robot. Feedback within the robot circuitry makes arrival time unpredictable. Figure 1 shows an ideal speed curve for smoothly arriving at a desired position. Figure 1. Ideal speed curve