Centre National De La Recherche Scientifique

MusÉum National D'histoire Naturelle

Université Versailles Saint-Quentin-En-Yvelines

Inria Institut National De Recehrche En Informatique Et En Automatique

Inria Institut National De Recherche En Informatique Et En Automatique

UniversitÉ De Versailles—saint-Quentin-En-Yvelines

Anick Abourachid

Ludovic Maes

Lionel Reveret

Vincent Hugel

The invention relates to a method for generating control commands for coordinating displacement members of a moving platform, so as to make said moving platform progress between an initial speed and a final speed according to at least two locomotive situations. The method of the invention is characterized in that each locomotive situation is associated with an elementary module corresponding thereto for generating commands for controlling coordination between a predetermined module start speed and a predetermined module end speed, and in that domains of application of these elementary modules are represented in the form of a predetermined charts for concatenating adjoining modules, covering at least partially, by juxtaposition of their start and end speeds, the spectrum of possible initial and final speeds of displacement of the platform, so as to allow determination of a series of elementary modules to be concatenated to pass from the initial speed to the final speed and the concatenation of the modules of this series so as to derive therefrom a series of corresponding control commands for the displacement members of the moving platform.

Method of generating commands for controlling coordination of displacement members of a moving platform and corresponding generator

Growing community of inventors

Draveil, France

Anick Abourachid