Patent ID: 6046564
Filing Date: 2000-04-04
Classification: G05B

Abstract:
A path planning apparatus comprising:a planner which receives target positioning information, performs calculations using this information to obtain an initial speed profile, then outputs the initial speed profile;an interpolator which receives the initial speed profile from the planner, performs a predetermined operation on the same to obtain a filtered speed profile that is smotther than the initial speed profile, and outputs the filtered speed profile;a servo controller which receives output of the interpolator and outputs acceleration and deceleration control signals according to the output of the low pass filter;a servo motor which is controlled by the signals received from the servo controllera plurality of unit delays connected in series and operating to output delay signals;a plurality of first multipliers for multiplying predetermined gain values to each of the delay signals output from the unit delays, said predetermined gain values being functions of time;an adder for obtaining a sum of the output of the first multipliers and outputting the same; anda second multiplier which multiplies the output of the adder to an inverse of the sum of all the gain values to obtain the filtered speed profile.