A generalized approach for the acceleration and deceleration ofindustrial robots and CNC machine tools
Jae Wook Jeon; Young Youl Ha
Industrial Electronics, IEEE Transactions on
Volume 47, Issue 1, Feb 2000 Page(s):133 - 139
Digital Object Identifier 10.1109/41.824135
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
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