A generalized approach for the acceleration and deceleration of industrial robots and CNC machine tools

Many techniques for the acceleration and deceleration of industrial robots and computer numerical control (CNC) machine tools have been proposed in order to make industrial robots and CNC machine tools perform given tasks efficiently. Although the techniques selecting polynomial functions can genera...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2000-02, Vol.47 (1), p.133-139
Main Authors: Jeon, Jae Wook, Ha, Young Youl
Format: Article
Language:English
Subjects:
Acceleration
Character generation
Computer industry
Computer numerical control
Convolution
Deceleration
Digital
Industrial control
Intervals
Machine tools
Mathematical analysis
Mathematical models
Numerical controls
Polynomials
Robots
Service robots
Velocity control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Many techniques for the acceleration and deceleration of industrial robots and computer numerical control (CNC) machine tools have been proposed in order to make industrial robots and CNC machine tools perform given tasks efficiently. Although the techniques selecting polynomial functions can generate various acceleration and deceleration characteristics, the major problem is the computational load. The digital convolution techniques are more efficient than the techniques selecting polynomial functions. However, neither velocity profiles of which the deceleration characteristics is independent from the acceleration characteristics nor those of which the acceleration interval is different from the deceleration interval can be generated by the digital convolution techniques. This paper proposes a generalized approach for generating velocity profiles that cannot be generated by the digital convolution techniques. According to the desired characteristics of acceleration and deceleration, each set of coefficients is calculated and is stored. Given a moving distance, and acceleration and deceleration intervals, a velocity profile having the desired characteristics of acceleration and deceleration can be efficiently generated by using these coefficients. Several velocity profiles generated by the proposed technique are applied to one single-axis control system.
ISSN:0278-0046
1557-9948
DOI:10.1109/41.824135