平滑的
机械加工
计算机科学
控制理论(社会学)
处理器调度
调度(生产过程)
实时计算
作业车间调度
同步(交流)
并行计算
数学优化
嵌入式系统
数学
计算机视觉
人工智能
工程类
操作系统
机械工程
控制(管理)
地铁列车时刻表
布线(电子设计自动化)
计算机网络
频道(广播)
作者
Xiaoyong Huang,Fei Zhao,Tao Tao,Xuesong Mei
出处
期刊:IEEE Access
[Institute of Electrical and Electronics Engineers]
日期:2020-01-01
卷期号:8: 89185-89204
被引量:33
标识
DOI:10.1109/access.2020.2992022
摘要
This paper presents an analytical continuous smoothing method for the five-axis toolpath by simultaneously scheduling the tool position and tool orientation trajectories. In order to ensure the high-order continuous, the peak-controlled jerk and arclength-parameterized property, a novel curve "airthoid" is proposed for the first time. The biairthoid is involved to smooth the corners of the tool position in the workpiece coordinate system (WCS) and the corners of the tool orientation in the machine coordinate system (MCS), the geometries of which are analytically determined by the user-defined deviation errors. A time synchronization strategy is proposed to extend the duration of the predetermined cubic acceleration profile to a specified time. With the kinematic constraints of the tool position and the tool orientation, the transitional and rotational trajectories are analytically synchronized by sharing the same motion time. To comply with the constraints of the linear feed drives, an optimization strategy is conducted by adjusting the kinematics of the tool position. By doing so, the approximation errors of the tool position and tool orientation in the WCS are strictly satisfied. The analytical arclength expression of the smoothing curves is more suitable for the on-line interpolation. Due to the arclength-parametrized transition curve, the feedrate fluctuation is eliminated. With the proposed time synchronization strategy, the physical limits of the feed drives are all respected. Moreover, the high-order continuous airthoid makes the motion more smoothing-going. Simulations and experiments verify the effectiveness of the proposed algorithm.
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