| 摘要 |
Provided are a device and a method for the generation of a constraint preferably based on an optimal time motion. The device (100) comprises a control unit (102), and the control unit (102) is configured to control a mechanical system (104), whereas a set-point generator (101) likewise embedded therein delivers set points for the control unit (102). A moving average filter (111) is coupled to the generator (101). By application of the moving average filter (111), a piecewise constant set point profile is changed into a piecewise linear profile. This has several positive effects as explained in the disclosure, while a moving object is driven via the mechanism. |
