A computer readable medium causing a computer to planning of a trajectory for an object that is capable of controlled movement in one or more degrees of freedom. At least one ordered sequence of movement profiles is obtained. The at least one ordered sequence includes: (i) movement profiles that end with a phase of increasing acceleration and (ii) movement profiles that end with a phase of decreasing acceleration. The ordered sequence is evaluated to select a movement profile capable of achieving a desired state of movement. The trajectory of the object is planned based on the selected movement profile.

A method for monitoring acceleration of a number A of axes of a multi-axis kinematic system utilizes a sampling process with a first sampling interval, wherein a first acceleration limit value assigned to the first sampling interval and a second different acceleration limit value is determined for the acceleration, where a second time interval is assigned to the second acceleration limit value, a plurality of position values of the axis is determined by sampling with the first sampling interval, a current acceleration is calculated via the ascertained position values, and the calculated current acceleration is monitored via a first instance of monitoring utilizing the first acceleration limit value and the assigned first sampling interval and, simultaneously, via a second instance of monitoring utilizing the second acceleration limit value and the assigned second time interval, such that acceleration of an axis is monitored using at least two acceleration limit values simultaneously.

A computer-based design system for an electric drive system includes: a cam editor having a graphical user interface, wherein the graphical user interface sets values of parameters of a motion profile of the electric drive system on the basis of user inputs, a limit value memory, which stores limit values of the motion profile, and a limit value monitoring device, which monitors whether a value of a parameter inputted by a user input causes one or more of the stored limit values to be violated by the resulting motion profile and, in the case that one or more of the stored limit values are violated by the resulting motion profile, to adjust the inputted value of the parameter to such a value of the parameter that none of the stored limit values are violated by the resulting motion profile.

A computer-based design system for an electric drive system includes: a cam editor having a graphical user interface, wherein the graphical user interface sets values of parameters of a motion profile of the electric drive system on the basis of user inputs, a limit value memory, which stores limit values of the motion profile, and a limit value monitoring device, which monitors whether a value of a parameter inputted by a user input causes one or more of the stored limit values to be violated by the resulting motion profile and, in the case that one or more of the stored limit values are violated by the resulting motion profile, to adjust the inputted value of the parameter to such a value of the parameter that none of the stored limit values are violated by the resulting motion profile.

Motion controls for a mobile drive unit adjust linear acceleration for laden mobile drive units to decrease the likelihood of the payload tipping or bouncing off the mobile drive unit and adjust angular acceleration to reduce the risk of the drive wheels slipping while the casters align with the direction of travel.

A parameter setting device is configured to set a parameter relating to a speed of a table of a machine tool in accordance with the weight of an object placed on the table. The parameter setting device includes: an operation control unit configured to provide control such that the table is operated according to a predetermined operation; a positional change obtaining unit configured to obtain a positional change of the table; a storage unit that stores the parameter corresponding to the positional change caused when the table is operated according to the predetermined operation; and a parameter setting unit configured to set, by using the storage unit, the parameter based on the positional change obtained by the positional change obtaining unit when the operation control unit operates the table according to the predetermined operation.

A computer-implemented method and controller are disclosed, for planning a trajectory for an object that is capable of controlled movement in one or more degrees of freedom. The method comprises obtaining (240) at least one ordered sequence of movement profiles. The at least one ordered sequence of movement profiles includes: (i) movement profiles that end with a phase of increasing acceleration and (ii) movement profiles that end with a phase of decreasing acceleration. The method comprises evaluating (250) the at least one ordered sequence of movement profiles to determine whether they can to achieve the target state of motion; selecting (260) a movement profile according to the result of the evaluating; and planning (270) the trajectory for the object based on the selected movement profile. Also disclosed is a method of planning a trajectory by obtaining a set of candidate profiles and solving a set of equations of motion for each candidate profile. Candidate profiles for which the solution is breaches motion constraints are eliminated. The correct profile(s) is (are) identified as the one(s) for which the solution does not breach any constraints.

A method for monitoring acceleration of a number A of axes of a multi-axis kinematic system utilizes a sampling process with a first sampling interval, wherein a first acceleration limit value assigned to the first sampling interval and a second different acceleration limit value is determined for the acceleration, where a second time interval is assigned to the second acceleration limit value, a plurality of position values of the axis is determined by sampling with the first sampling interval, a current acceleration is calculated via the ascertained position values, and the calculated current acceleration is monitored via a first instance of monitoring utilizing the first acceleration limit value and the assigned first sampling interval and, simultaneously, via a second instance of monitoring utilizing the second acceleration limit value and the assigned second time interval, such that acceleration of an axis is monitored using at least two acceleration limit values simultaneously.

A parameter setting device is configured to set a parameter relating to a speed of a table of a machine tool in accordance with the weight of an object placed on the table. The parameter setting device includes: an operation control unit configured to provide control such that the table is operated according to a predetermined operation; a positional change obtaining unit configured to obtain a positional change of the table; a storage unit that stores the parameter corresponding to the positional change caused when the table is operated according to the predetermined operation; and a parameter setting unit configured to set, by using the storage unit, the parameter based on the positional change obtained by the positional change obtaining unit when the operation control unit operates the table according to the predetermined operation.

Motion controls for a mobile drive unit adjust linear acceleration for laden mobile drive units to decrease the likelihood of the payload tipping or bouncing off the mobile drive unit and adjust angular acceleration to reduce the risk of the drive wheels slipping while the casters align with the direction of travel.