A NURBS CURVE INTERPOLATOR WITH JERK-LIMITED TRAJECTORY PLANNING

NCUIR > Engineering College > Graduate Institute of Mechanical Engineering > journal & Dissertation > Item 987654321/26827

Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/26827

Title:	A NURBS CURVE INTERPOLATOR WITH JERK-LIMITED TRAJECTORY PLANNING
Authors:	Tseng,SJ;Lin,KY;Lai,JY;Ueng,WD
Contributors:	機械工程研究所
Keywords:	PARAMETRIC INTERPOLATOR
Date:	2009
Issue Date:	2010-06-29 18:01:11 (UTC+8)
Publisher:	中央大學
Abstract:	The control of the maximum acceleration and jerk in the trajectory planning of the CNC controller is very important because it affects the smoothness of the machined surface substantially. We proposed a parametric interpolator composed of a look-ahead stage and a real-time sampling stage for jerk-limited acceleration planning. A pre-sampling process was implemented in the look-ahead stage to identify the segment points, where the acceleration changed across zero. A check of the acceleration and jerk was implemented and the feedrate was modified accordingly. In addition, a backtracking process was carried out during the deceleration stage to ensure that the modified feedrate was satisfied. In the real-time sampling stage, an acceleration profile based on constant jerk was implemented for each region between two segment points. With this algorithm, we ensured that both the chord error and the maximum acceleration and jerk were within the allowable limits. Also, it kept the similarity of the speed profiles for adjacent cutting paths in zigzag machining.
Relation:	JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS
Appears in Collections:	[Graduate Institute of Mechanical Engineering] journal & Dissertation

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