Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Design of Cubic Spline Interpolator using a PVAJT Motion Planner

PVAJT 모션플래너를 이용한 Cubic Spline 보간기의 설계

  • Shin, Dong-Won (Department of Mechanical System Engineering Kumoh National Institute of Technology)
  • Received : 2011.02.24
  • Accepted : 2011.06.20
  • Published : 2011.06.30
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Abstract

A cubic spline trajectory planner with arc-length parameter is formulated with estimation by summing up to the 3rd order in Taylor's expansion. The PVAJT motion planning is presented to reduce trajectory calculation time at every cycle time of servo control loop so that it is able to generate cubic spline trajectory in real time. This method can be used to more complex spline trajectory. Several case studies are executed with different values of cycle time and sampling time, and showed the advantages of the PVAJT motion planner. A DSP-based motion controller is designed to implement the PVAJT motion planning.

Keywords

References

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