Development of a trajectory generation method for a five-axis NC machine

Kim, Jaehee; Ryuh, Beom-Sahng; Pennock, Gordon R.

doi:10.1016/s0094-114x(01)00030-1

Cited by 16 publications

(11 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Since the proposed novel system works like a 5-axis machine, some latest development in 5-axis concerning kinemat- [23], path generation [24][25][26] and real-time interpolation [27,28] were of interest. Figure 2 shows the system block diagram of the constructed motion platform.…”

Section: Introductionmentioning

confidence: 99%

System structure and contour tracking for a hybrid motion platform

Lue

Cheng

Chin

2004

Int J Adv Manuf Technol

View full text Add to dashboard Cite

This work investigates the spatial contour tracking on a new kind of motion platform that is constructed by extending the parallel platform with a proven planar motion table. Multiaxis cross-coupled tracking control schemes were developed on the basis of this hybrid structured Stewart platform, which formed a 5-axis working machine. A framework for the functions of this system was established. Roadmap for further development that leads to a highly versatile and efficient precision motion platform was made.

show abstract

Section: Introductionmentioning

confidence: 99%

System structure and contour tracking for a hybrid motion platform

Lue

Cheng

Chin

2004

Int J Adv Manuf Technol

View full text Add to dashboard Cite

show abstract

“…Furthermore, with the path divided into straight-line segments, in current ÿve-axis machining with o -line programming, the tool orientation is maintained constant during each segment. This implies that the orientation of the tool must be changed abruptly between two segments, which according to Kim et al [8] can produce an unpredictable reaction at the point of contact with the surface and prevent a smooth ÿnish.…”

Section: Introductionmentioning

confidence: 99%

“…Kim et al [8] acknowledge the value of a real-time NURBS curve interpolator for a six-axis robot developed by Zhang and Greenway [6]. They state that real-time parametric interpolators reduce the memory requirement and communication load in guaranteeing continuity in the ÿrst-order and second-order properties of the tool position.…”

Section: Introductionmentioning

confidence: 99%

“…Kim et al [8] focuses on the fact that the tool tip and a unit line vector attached to the tool generate a ruled surface. The curvature theory of a ruled surface, which is a study of the di erential motion of the ruled surface, is then used to provide the properties of the tool motion in a strictly mathematical manner.…”

Section: Introductionmentioning

confidence: 99%

“…The curvature theory of a ruled surface, which is a study of the di erential motion of the ruled surface, is then used to provide the properties of the tool motion in a strictly mathematical manner. When the surface to be machined is a free-formed surface and cannot be represented by an analytical closed-form equation, Kim et al [8] use the Ferguson curve model to geometrically represent the ruled surfaces for the tool trajectory.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Trajectory‐planning through interpolation by overlapping cubic arcs and cubic splines

Plessis

Snyman

2003

Numerical Meth Engineering

View full text Add to dashboard Cite

SUMMARYA new path-planning interpolation methodology is presented with which the user may analytically specify the desired path to be followed by any planar industrial robot. The user prescribes a set of nodal points along a general curve to be followed by the chosen working point on the end-e ector of the mechanism. Given these speciÿed points along the path and additional prescribed kinematical requirements, Overlapping Cubic Arcs are ÿtted in the Cartesian domain and a cubic Spline interpolation curve is ÿtted in the time-domain. Further user-speciÿed information is used to determine how the end-e ector orientation angle should vary along the speciÿed curve. The proposed trajectory-planning methodology is embodied in a computer-algorithm (OCAS), which outputs continuous graphs for positions, velocities and accelerations in the time-domain. If a varying end-e ector orientation angle is speciÿed, the OCAS-algorithm also generates continuous orientation angle, orientation angular velocity and orientation angular acceleration curves in the time-domain. The trajectory-planning capabilities of the OCAS-algorithm are tested for cases where the prescribed nodal points lie along curves deÿned by analytically known non-linear functions, as well as for nodal points speciÿed along a non-analytical (free-form) test-curve. The proposed trajectory-planner may be implemented as part of kinematic and kinetic simulation software, and it also has the potential application for controlling machine tools in cutting along free-form curves.

show abstract