| 摘要 |
<p num="1"><br/><br/><br/><br/>The present invention relates to navigation of a path by a moving object, and, <br/><br/>more particularly, to motion control systems for computer-controllable machine <br/>tools. <br/>There is provided a method of tolerance-based trajectory planning and control. <br/>The <br/>method controls movement of a body through a series of motion commands. For a <br/>representative motion command of the series of motion commands the method <br/>includes <br/>the step of obtaining a motion command having a contour. The geometry of the <br/>motion <br/>command is analyzed, which includes the steps of determining a stopper <br/>location <br/>associated with the motion command, and determining a vector which represents <br/>a <br/>stopper plane associated with the motion command. The stopper location is <br/>spaced apart <br/>from an endpoint of the motion command. A desired velocity and a desired <br/>acceleration <br/>for the body is determined based on at least the determined stopper plane. <br/>Finally, the <br/>motion command is executed.<br/>
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