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

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

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings
主出版物子標題IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
頁面246-251
頁數6
DOIs
出版狀態Published - 2011 十二月 1
事件37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
持續時間: 2011 十一月 72011 十一月 10

出版系列

名字IECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
國家Australia
城市Melbourne, VIC
期間11-11-0711-11-10

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • 引用此

    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. 於 Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society (頁 246-251). [6119319] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6119319