Title:
NON-ZERO ORIGINAL STATE S-TYPE STOP CURVE VELOCITY RULE AND ONLINE RESOLVING METHOD THEREOF
Document Type and Number:
WIPO Patent Application WO/2019/019707
Kind Code:
A1
Abstract:
A non-zero original state S-type stop curve velocity rule and an online resolving method thereof. The method comprises: establishing an S-type stop locus model (S1); setting feasible conditions for locus existence for the S-type stop locus model established in S1 (S2); resolving locus parameters in the S-type stop locus model established in S1 according to the feasible conditions for locus existence set in S2 (S3); and generating an acceleration locus, a velocity and a location locus according to the locus parameters resolved in S3 (S4). The method converts a velocity rule resolving problem into a resolving problem of a unary nonlinear equation, thus simplifying resolving difficulty.
Inventors:
YU WENJIN (CN)
HAN FENGTAO (CN)
TUO HUA (CN)
YUAN SHUNNING (CN)
LIU WENLI (CN)
HAN FENGTAO (CN)
TUO HUA (CN)
YUAN SHUNNING (CN)
LIU WENLI (CN)
Application Number:
PCT/CN2018/083349
Publication Date:
January 31, 2019
Filing Date:
April 17, 2018
Export Citation:
Assignee:
ROKAE SHANDONG INTELLIGENT TECH CO LTD (CN)
International Classes:
G05B13/04
Foreign References:
| CN107436555A | 2017-12-05 | |||
| CN106354102A | 2017-01-25 | |||
| CN106168790A | 2016-11-30 | |||
| CN106444635A | 2017-02-22 | |||
| JP2000083392A | 2000-03-21 |
Other References:
LI, CHONGSHI: "Study of PCB Drilling Machine and Third Order S-curve Trajectory Planning Algorithm", MASTER PAPER, 1 May 2013 (2013-05-01), pages 1 - 68, XP009515774
See also references of EP 3506030A4
See also references of EP 3506030A4
Attorney, Agent or Firm:
BEIJING RISINGMARK INTELLECTUAL PROPERTY AGENCY (CN)
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