Patent ID: 7299108
Filing Date: 2007-11-20
Classification: G05B

Abstract:
1. A method for guiding the movement of a movable machine element of a machine using position control circuits, said machine element having a prescribed movement path in a working area and having a drive motor including at least one drive axis, said working area having support points, said method comprising the steps of: associating a support point with a respective movement maximum value for the machine element, the respective movement maximum value being produced for each drive axis of the machine using a maximum driving torque of the drive motor and an inertia matrix; and moving the machine element on the movement path in accordance with the respective associated movement maximum value; using a respective excitation function to excite the position control circuit of each drive axis over a given period of time as the machine element approaches the support point; simultaneously storing motor position angle and driving torque values for each drive axis as the machine element approaches the support point; using the stored values to produce coefficients of driving torque and coefficients of motor position angle for each drive axis, using the respective excitation function; determining an inertia matrix for each respective support point using acceleration and torque coefficients produced for each drive axis, as each support point of the machine element is approached.