Method and system for vibration avoidance for automated machinery

Patent No. 7,957,832

Issued: June 7,2011
Filed: March 25, 2009: 

Inventors: Testa; Francis Joseph (Fairport, NY)
Assignee: Teknic, Inc. (Pittsford, NY)


A method for vibration avoidance in automated machinery produces actuator space-time contours that meet design objectives of the machinery while suppressing energy content at frequencies in the space-time contour, by concatenating multiple space-time contour segments together in such a way as to be mostly free of energy at the frequencies of interest while meeting other specified design goals. The segments used to construct these frequency-optimized-contours are a series of concatenated polynomial segments, the independent variable t being time. These segments can define the variable to be controlled (e.g. speed or distance) versus time, or define one of the controlled variable's time-derivatives (e.g., the slope of the speed vs. time, etc.). When these frequency-optimized-contours are fed as a command to a machine controller through an actuator or actuators, the energy at the frequencies of interest is low enough to avoid deleterious vibration from occurring while still meeting the machine performance objectives.

Reference to Related Applications

This is a divisional patent application of co-pending U.S. application Ser. No. 11/744,425, filed May 4, 2007, now US Patent 7,613,540 entitled "METHOD AND SYSTEM FOR VIBRATION AVOIDANCE FOR AUTOMATED MACHINERY" The aforementioned application is hereby incorporated herein by reference.


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