Patent ID: 8024061

Claim:
A device to generate a position profile in a motion controller, the device comprising: a pattern coefficient generator to generate pattern and time coefficients of a position pattern, the position pattern being classified by velocity change; a contour generator to generate a pattern polynomial to define a contour of each section of the position pattern using the pattern and time coefficients generated by the pattern coefficient generator; and a dual filter to generate a position profile by selectively activating one of a plurality of filters, which receive the pattern polynomial generated by the contour generator, wherein the dual filter comprises an acceleration filter and a deceleration filter, wherein the filter having the relatively large filter size is designed as expressed by the following equation 1 and the filter having the relatively small filter size is designed as expressed by the following equation 2: y 1 ⁡ [ n ] = 1 ma ⁢ ⁢ ∑ i = n - ma + 1 n ⁢ x ⁡ [ i ] ( Equation ⁢ ⁢ 1 ) y 2 ⁡ [ n ] = 1 mi ⁢ ⁢ ∑ i = n - ma + d / 2 + 1 n - d / 2 ⁢ x ⁡ [ i ] ( Equation ⁢ ⁢ 2 ) where “y 1 [n]” denotes a filter having a relatively large filter size, “y 2 [n]” denotes a filter having a relatively small filter size, “ma” and “mi” denote the larger of two integer values “na” and “nd”, “d” denotes the absolute value of (na−nd), “na” denotes the integer value of (T ra /T s ), “nd” denotes the integer value of (T rd /T s ), “T s ” denotes sampling time, “T ra ” denotes the size of the acceleration filter and is expressed by (Acc/Jerk), “T rd ” denotes the size of the deceleration filter and is expressed by (Dec/Jerk), “Jerk” denotes the magnitude of jerk, “Acc” denotes acceleration, and “Dec” denotes deceleration, wherein the acceleration filter is used to filter a pattern polynomial corresponding to an acceleration section of the position pattern, and the deceleration filter is used to filter a pattern polynomial corresponding to a deceleration section thereof, wherein if the acceleration and deceleration filters have different filter sizes, switching timing of one of the acceleration and deceleration filters, which has a relatively small filter size, is shifted in time with respect to switching timing of the other filter, which has a relatively large filter size, in order to prevent a switching error from occurring when the acceleration and deceleration filters are switched, and wherein the position profile controls a servomotor as a drive source to move each joint of an industrial articulated robot by determining work pattern and time.