Planning and implementation of motion trajectory based on C 2 PH spline

I. Han Liu, Ming-Yang Cheng, Mi-Ching Tsai, Ke Han Su

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Generally, poor machining performance may occur due to the abrupt change of acceleration at the portion of a curve with large curvature. In order to deal with this problem, this paper presents a modified trajectory planning scheme based on PH (Pythagorean Hodograph) curves for sharp corner angle contouring tasks. The main idea of the proposed method is to force the actual toolpath trajectory closer to the original command path by exploiting a modified command trajectory (a C 2 PH spline curve) at the sharp corner in advance, so that the corner contouring accuracy can be further improved. Finally, several different sharp corner contour-following experiments were conducted on dual servo motors to evaluate the effectiveness of the proposed approach. Experimental results indicate that the proposed approach can indeed reduce contour error in sharp corner-angle contour-following applications.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages246-251
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11-11-0711-11-10

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Liu, I. H., Cheng, M-Y., Tsai, M-C., & Su, K. H. (2011). Planning and implementation of motion trajectory based on C 2 PH spline. In Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society (pp. 246-251). [6119319] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6119319