Patent ID: 6782306
Filing Date: 2004-08-24
Classification: G05B

Abstract:
A method of controlling motion of a movable machine member, the method comprising:receiving a plurality of points which define a desired linear path, sharp corner, or contoured path while maintaining the desired path for the movable member, the plurality of points defining a plurality of spans on the desired path; calculating a length of a first span in the plurality of spans; determining the relative length of the first span with respect to at least one other span in the plurality of spans; based upon the relative length, deciding whether the first span should be interpolated linearly or whether the first span should be interpolated using a spline function if the span is a contoured path; if the first span should be interpolated using a spline function, deriving a spline interpolation equation for the first span, wherein the spline interpolation equation comprises a polynomial of at least the third order; and moving the movable member according to the spline interpolation function.