Feedrate Scheduling of NURBS Interpolation Based on a Novel Jerk-Continuous ACC/DEC Algorithm

Ni, Hepeng; Yuan, Jipeng; Ji, Shuai; Zhang, Chengrui; Hu, Tianliang

doi:10.1109/access.2018.2813334

Cited by 36 publications

(28 citation statements)

References 29 publications

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“…The time expression (7) and equation ( 10) in interval 2 are suitable, and the displacement expression is the same as equation (18). The time expression ( 7) formula ( 10) in interval 1 is applicable, and the displacement expression is the same as formula (14).…”

Section: Interval Identificationmentioning

confidence: 99%

“…Presently, the planning of NURBS curve interpolation velocity based on S-shape acc/dec has become a hot research topic, and the solution mainly adopts the matching displacement by changing the velocity step by step [18,19].The main idea of this method is to use the assumed key velocity value to calculate the corresponding displacement, match it with the actual displacement, and then determine the curve profile according to the matching situation. For small line segments, the calculation needs to be repeated more than three times, which reduces the efficiency of the solution.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Efficient Planning and Solving Algorithm of $S$ -Shape Acceleration and Deceleration

Cai

Liu

2020

Wireless Communications and Mobile Computing

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S -shape acceleration and deceleration are the most widely used flexible acceleration and deceleration method in the current CNC system, but its velocity solution equation contains irrational terms, which create a more complicated solution process. When analyzing the solution process of the S -shape acceleration and deceleration directly, using a traditional numerical solution method, the phenomenon of “solving the interval jump” arises, which is the main reason for low efficiency and poor stability of the solution. According to the S -curve profile and solution, the concept of separating the curve profile recognition from the velocity solution was proposed, and a method of quickly identifying the interval of the solution location was introduced. Through the method mentioned above, the complete acceleration and deceleration curve parameters can be obtained through a one-time plan and a one-time solution, and the solution efficiency and stability are guaranteed; solving the Newton problem depends too much on the initial value of Newton velocity, which not only retains the speed advantage of the Newton method but also uses the downhill factor to ensure its convergence. Through the simulation comparison and analysis, the efficiency, stability, and universality of the method are verified.

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Section: Interval Identificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Efficient Planning and Solving Algorithm of $S$ -Shape Acceleration and Deceleration

Cai

Liu

2020

Wireless Communications and Mobile Computing

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“…23 Therefore, two NURBS curves which are the butterfly-shaped curve and ∞ -shaped curve, which are shown in Figure 7 with their curvature curves, are selected as the cases studies. The degree, control points, knot vector, and weight vector of the test curves are given in the study by Ni et al 24 The feedrate scheduling method given in the study by Ni et al 25 is used in this article with the interpolation parameters illustrated in Table 1.…”

Section: Simulation Validationmentioning

confidence: 99%

A parametric interpolation method based on prediction and iterative compensation

Zhang

Chen

et al. 2019

International Journal of Advanced Robotic Systems

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Parametric interpolation for spline plays an increasingly important role in modern manufacturing. It is critical to develop a fast parametric interpolator with high accuracy. To improve the computational efficiency while guaranteeing low and controllable feedrate fluctuation, a novel parametric interpolation method based on prediction and iterative compensation is proposed in this article. First, the feedrate fluctuation and Taylor's expansion are analyzed that there are two main reasons to reduce the calculation accuracy including the truncation errors caused by neglecting the high-order terms and discrepancy errors between the original curve and the actual tool path. Then, to reduce these errors, a novel parametric interpolation method is proposed with two main stages, namely, prediction and iterative compensation. In the first stage, a quintic polynomial prediction algorithm is designed based on the historical interpolation knowledge to estimate the target length used in the second-order Taylor's expansion, which can improve the calculation accuracy and the convergence rate of iterative process. In the second stage, an iterative compensation algorithm based on the secondorder Taylor's expansion and feedrate fluctuation is designed to approach the target point. Therefore, the calculation accuracy is controllable and can satisfy the specified value through several iterations. When finishing the interpolation of current period, the historical knowledge is updated to prepare for the following interpolation. Finally, a series of simulations are conducted to evaluate the good performance in accuracy and efficiency of the proposed method.

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“…The calculation formula in this part contains only one unknown variable t con . Based on the above analysis, all the calculation equations (15) to (17) only have one variable. In the actual process of picking, in order to pick more workpiece in the same time, the picking time for one single workpiece should be as shorter as possible.…”

Section: Stepmentioning

confidence: 99%

“…12,13 Ni et al proposed some feed rate scheduling methods to improve motion smoothness and efficiency based on S-shaped ACC/DEC algorithm. 14,15 The linear ACC/DEC algorithm 16 and polynomial algorithm 17 are also utilized to generate smooth feed rate profile. Liu et al 18 used modified trapezoidal ACC/DEC method to plan the sorting trajectory of the Delta parallel manipulator.…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning method of robot sorting system based on S-shaped acceleration/deceleration algorithm

Chen

Zhang

et al. 2018

International Journal of Advanced Robotic Systems

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To improve the sorting accuracy and efficiency of sorting system with large inertia robot, this article proposes a novel trajectory planning method based on S-shaped acceleration/deceleration algorithm. Firstly, a novel displacement segmentation method based on assumed maximum velocity is proposed to reduce the computational load of velocity planning. The sorting area can be divided into four parts by no more than three steps. Secondly, since the positions of workpieces are dynamically changing, a dynamic prediction method of workpiece picking position has been presented to consider all the possible positions of the robot and the workpiece, so as to realize the picking position prediction of the workpiece at any positions. Each situation in this method can constitute an equation with only one solution, and the existence of the solution can be verified by the proposed graphical method. The simulations of the motion time of the sorting process show that the proposed method can significantly shorten the sorting time and improve the sorting efficiency compared with the previous method. Finally, this method was applied to the Selective Compliance Assembly Robot Arm (SCARA) robot for experiments. In the physical picking experiment, the missing-pick rate was less than 1%, which demonstrates the efficiency and effectiveness of this method.

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Feedrate Scheduling of NURBS Interpolation Based on a Novel Jerk-Continuous ACC/DEC Algorithm

Cited by 36 publications

References 29 publications

Efficient Planning and Solving Algorithm of $S$ -Shape Acceleration and Deceleration

Efficient Planning and Solving Algorithm of $S$ -Shape Acceleration and Deceleration

A parametric interpolation method based on prediction and iterative compensation

Trajectory planning method of robot sorting system based on S-shaped acceleration/deceleration algorithm

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Feedrate Scheduling of NURBS Interpolation Based on a Novel Jerk-Continuous ACC/DEC Algorithm

Cited by 36 publications

References 29 publications

Efficient Planning and Solving Algorithm of S -Shape Acceleration and Deceleration

Efficient Planning and Solving Algorithm of S -Shape Acceleration and Deceleration

A parametric interpolation method based on prediction and iterative compensation

Trajectory planning method of robot sorting system based on S-shaped acceleration/deceleration algorithm

Contact Info

Product

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Efficient Planning and Solving Algorithm of $S$ -Shape Acceleration and Deceleration

Efficient Planning and Solving Algorithm of $S$ -Shape Acceleration and Deceleration