• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.457-458
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• 2006

A method for obtaining smooth, jerk bounded feed rate profile in high speed machining has been developed. This study proposes a NURBS interpolator based on adaptive feed rate control with a well developed look ahead algorithm which takes into account the machining dynamics as well. Limitation of jerk and proportional torque rate result in smoothened loads on the machine which effectively reduces excitation of the resonant frequencies of the machine. It is found that the values of the feed rate of the down stream sharp corner have profound effect on the feed rate of the upstream sharp corners. By using a windowing scheme the feed rate profile obtained after look ahead method is re-interpolated to reduce the jerk related problems. This is compared with the adaptive NURBS interpolator to show the effectiveness of the proposed method. Simulation results indicate that the consideration of 'ripple effect' is important in avoiding jerk and thereby increasing the machining accuracy.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.997-1005
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• 2010

Most motion control systems consist of a desired trajectory generator, a motion controller such as a conventional PID controller, and a plant to be controlled. The desired trajectory generator as well as the motion controller is very important to achieve a good tracking performance. Especially, if the desired trajectory is generated actively utilizing the maximum velocity, acceleration, jerk and snap as given system specifications, the tracking performance would be better. For this, we make use of the properties of convolution operator in order to generate a smooth (S-curve) trajectory satisfying the system specifications. Also, the proposed trajectory generation method is extended to more general cases with arbitrary initial and terminal conditions. In addition, the suggested trajectory generator can be easily realized for real-time implementation. Finally, the effectiveness of the suggested method is shown through numerical simulations.