Resonance detection and resolution

摘要

The present invention provides a method for controlling following error in a robotic system that moves a tool at a velocity along a path defined by an inputted set of vertices. The following error is controlled to be less than a tolerable error allowance. First, a subset of resonant vertices is identified from the inputted set of vertices. Each of the resonant vertices has a neighboring vertex for which a following error that results when the tool negotiates both the vertex and its neighboring vertex at an assigned vertex velocity might exceed the tolerable error allowance. Second, each vertex in the subset of resonant vertices is assigned a reduced vertex velocity. The reduced vertex velocity is selected so that the following error that results when the tool negotiates both the vertex and its neighboring vertex at the reduced velocities is less than the tolerable error allowance.