Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
157 words
A motion control apparatus for controlling a motor means which drives at least one degree of motion of an object over a predetermined period of time, said apparatus comprising, a motion description means for accepting at least two position and velocity set points to be traversed by said object, a motion curve calculation means which receives said set points which calculates the coefficients of a cubic parametric motion curve representative of said position and velocity set points, a curve generation means adapted to accept said coefficients to generate digital values representative of said motion curve, and an axis model means which accepts said digital values applies a correction factor to said digital values, the correction factor being representative of the physical arrangement of the motor means which drives a degree of motion of said object and converts said corrected digital values into signals to drive said motor means to control the position and orientation of said object.
Claim 2
Dependent Claim
157 words
A motion control apparatus for controlling a motor means which drives at least one degree of motion of an object over a predetermined period of time, said apparatus comprising, a motion description means for accepting at least two position and velocity set points to be traversed by said object, a motion curve calculation means which receives said set points which calculates the coefficients of a cubic parametric motion curve representative of said position and velocity set points, a curve generation means adapted to accept said coefficients to generate digital values representative of said motion curve, and an axis model means which accepts said digital values applies a correction factor to said digital values, the correction factor being representative of the physical arrangement of the motor means which drives a degree of motion of said object and converts said corrected digital values into signals to drive said motor means to control the position and orientation of said object.
Claim 3
Dependent Claim
76 words
A motion control apparatus according to claim 1 wherein said motion description means further comprises, a operator input means usable by an operator for defining said at least the position and velocity set points and said predetermined period of time and for outputting said set points in a predetermined format to said motion curve calculation means which then calculates said motion curve thereby making the operation of defining set points interactive with the motion being controlled.
Claim 4
Dependent Claim
71 words
A motion control apparatus according to claim 2 wherein said operator input means comprises a graphical user interface which accepts from said curve generation means said digital values representative of said motion curve and depicts a graphical representation of said motion curve over said predetermined period of the motion of said object and which further comprises means to indicate which of said degree of motion is associated with said set points.
Claim 5
Dependent Claim
30 words
A motion control apparatus according to claim 3 wherein said set points may be modified by changing the position and velocity value of said set points on the graphical representation.
Claim 6
Dependent Claim
81 words
A motion control apparatus according to claim 1 wherein said motion control apparatus further comprises a signal processing means which receives said digital values generated by said curve generation means and at least one other input signal received in the form of digital values and which combines said digital values in a predetermined manner for input to said axis model means to provide one or more variables to the motion of said at least one degree of motion of said object.
Claim 7
Dependent Claim
40 words
A motion control apparatus according to claim 5 wherein said signal processing means comprises summing means for summing the digital values of each of said at least one signal and said digital values generated by said curve generation means received.
Claim 8
Dependent Claim
40 words
A motion control apparatus according to claim 5 wherein said signal processing means comprises multiplying means for multiplying the digital values of each of said at least one signal and said digital values generated by said curve generation means received.
Claim 9
Dependent Claim
40 words
A motion control apparatus according to claim 5 wherein said signal processing means comprises filtering means for filtering the digital values of each of said at least one signal and said digital values generated by said curve generation means received.
Claim 10
Dependent Claim
43 words
A motion control apparatus according to claim 5 wherein said graphical user interface is used by said operator to determine said other input signal or signals whereby said other signals are provided to said signal processing means in the form of digital values.
Claim 11
Dependent Claim
26 words
A motion control apparatus according to claim 1 wherein said motion curve calculation means, motion curve generation means and axis model means comprises a transputer device.
Claim 12
Dependent Claim
59 words
A motion control apparatus according to claim 10 wherein said motion description device accepts position and velocity set points in the format (TOKEN, ARGUMENT) where said TOKEN is a set point part at said format and said ARGUMENT comprises the digital values representative of a position and velocity part of at least one degree of motion of an object.