Patent ID: 6823221
Filing Date: 2004-11-23
Classification: G05B

Abstract:
A system for controlling motion of an object, the system comprising:a motion device which is operable to move the object; a motion control system which is coupled to the motion device, wherein the motion control system includes a processor and a memory medium, wherein the memory medium stores a motion control software program, wherein the motion control software program is executable by the processor to: determine a placement of pulses for each of a plurality of time intervals, wherein the pulses have an average desired pulse rate across the plurality of time intervals, wherein the quantity of pulses in each of the time intervals is variable, wherein in determining the placement of pulses for each of the plurality of time intervals, the motion control software program is executable by the processor to: determine a placement of pulses for a first time interval at a first rate of pulse generation per time interval, the first rate having a value of 1 plus an integer portion of a desired fractional rate of pulse generation per time interval; and determine a placement of pulses for a second time interval following the first time interval at a second rate having a value of the integer portion of the desired fractional rate of pulse generation; and generate the pulses across the time intervals according to the determined placement to drive the motion device to move the object.