Abstract: One embodiment of a system and method for meeting end conditions of a path plan utilizing a path generator that continuously generates commands for a path plan while tracking the total time expired in the path plan. The path generator computes the time remaining in the path plan and substitutes the remaining time for the length of the final sample period in the path plan when the length of the remaining time is less than the length of a full sample period.

Abstract: A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner.

Abstract: A method for synchronizing a slave follower with a master source is provided. The method includes defining a relationship between the master source and the slave follower, inputting a first position of the master source, and inputting a first position of the slave follower. The method also includes defining a second position where the slave follower synchronizes with the master source, and fitting a curve between the first position of the slave follower the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.

Abstract: A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase includes monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control of the move in progress to reach a target position. The system further includes at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.

Abstract: A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner.

Abstract: A method for synchronizing a slave follower with a master source is provided. The method includes defining a relationship between the master source and the slave follower, inputting a first position of the master source, and inputting a first position of the slave follower. The method also includes defining a second position where the slave follower synchronizes with the master source, and fitting a curve between the first position of the slave follower the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.

Abstract: A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase comprises calculating a jerk value required to successfully reach end conditions during a move in progress. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control to reach a target position. The system further includes a device being controlled for a move and at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.

Abstract: One embodiment of a system and method for meeting end conditions of a path plan utilizing a path generator that continuously generates commands for a path plan while tracking the total time expired in the path plan. The path generator computes the time remaining in the path plan and substitutes the remaining time for the length of the final sample period in the path plan when the length of the remaining time is less than the length of a full sample period.