Genetic algorithm-based S-curve acceleration and deceleration for five-axis machine tools

Lu, Tzyy-Chyang; Chen, Shyh‐Leh

doi:10.1007/s00170-016-8464-0

Cited by 29 publications

(12 citation statements)

References 28 publications

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“…During the motion of the human push-pull object, the angular velocity, the angular acceleration, the mass of the upper arm of human body, and the moment of inertia are negligible values, compared to the mass of the object, so the angular velocity and angular acceleration terms, in Eqs. (5) and (6), can be ignored.…”

Section: Kinematics Model Of Human Upper Limbmentioning

confidence: 99%

“…However, when the time is too short, or the number of trajectory segments is high, the loop is difficult to converge, thus reducing the algorithm stability. Tzyy-Chyang Lu et al proposed a velocity planning algorithm based on genetic algorithm 6 and one based on PSO, 7 simplifying the acceleration and velocity constraints into constants. Fusheng Liang et al 8 used an iterative approach to gradually increase the control points of the B-spline curve from zero to a number, approximate to the constraints.…”

Section: Introductionmentioning

confidence: 99%

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Velocity Planning for Astronaut Virtual Training Robot with High-Order Dynamic Constraints

Wang¹,

Lin²,

Chang³

et al. 2020

Robotica

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SUMMARY In order to improve the training efficiency and establish a multi-person cooperative training simulation system, including “virtual human,” in the process of virtual reality-based astronaut training, it is necessary to plan the velocity at which astronauts carry the target object. A velocity planning algorithm, combining a traditional six-stage acceleration/deceleration algorithm, based on a time-discrete model with high-order dynamic constraints, considering the elastic damping torque of the space suit, is proposed. The described algorithm is verified on MATLAB to prove its feasibility. Compared to other algorithms, the planning time of the proposed algorithm is significantly reduced.

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Section: Kinematics Model Of Human Upper Limbmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Velocity Planning for Astronaut Virtual Training Robot with High-Order Dynamic Constraints

Wang¹,

Lin²,

Chang³

et al. 2020

Robotica

View full text Add to dashboard Cite

show abstract

“…From equation (10), for each transition axis, therefore, the axial velocity limits of transition axes V Tmax are obtained by…”

Section: Maximum Feedrate and Acceleration Constraintmentioning

confidence: 99%

“…Sun et al 9 proposed an adaptive feedrate scheduling method with velocity and acceleration constraints for precision five-axis machining to reduce machining time. Lu and Chen 10 presented a genetic algorithm based on S-curve acceleration/deceleration scheme to increase processing efficiency. Sencer et al 11 introduced a feed scheduling algorithm for CNC systems to minimize the machining time for five-axis contour machining of sculptured surface.…”

Section: Introductionmentioning

confidence: 99%

A novel minimum-time feedrate schedule method for five-axis sculpture surface machining with kinematic and geometric constraints

Wang

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part B:

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Currently, to satisfy the stringent requirements on the physical properties of sculptured surfaces, workpiece machining attempts to guarantee the level of machining accuracy while improving the efficiency as much as possible. Because of the characteristics of the sculptured surfaces, the machine tool is usually run at a lower feedrate to avoid large impact forces. However, this sacrifices machining time and still may not meet the requirements. This article presents a novel minimum-time feedrate schedule method to improve the machining efficiency for five-axis machining considering the surface characteristic constraints. First, the mapping relationship between the surface characteristic and the kinematical parameters is constructed by analyzing the following error on each axis. After that, the new constraint conditions on machine tool kinematics limitation and its continuity constraints are given to address changes in the curvature. Next, a new acceleration/deceleration feedrate schedule method is presented based on quintic feedrate smooth profile to minimize the impact force as much as possible. Thus, a novel minimum-time feedrate schedule based on the bidirectional feedrate schedule algorithm is proposed to improve machining efficiency while respecting various constraints. Finally, a sculptured surface with varied curvature is used to illustrate the significant reduction in processing time and improvement in surface quality in large curvature region after scheduling. The simulation and experimental results show that the proposed method can improve the machining efficiency while guaranteeing the machining accuracy.

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“…In the literature, different velocity profiles were suggested to actuate a motor or dynamic system which is smoother than trapezoidal velocity motion profile due to the sharp acceleration changes in the trapezoidal velocity profiles. The firstly proposed the 3 rd order S-curve motion profile which has seven-time segment by Castain and Paul [10] was used also in practice [11][12][13][14], since it has moderate complexity to use and enables minimum time motion with limited jerk.…”

Section: Introductionmentioning

confidence: 99%

S-curve Motion Profile Design for Vibration Control of Single Link Flexible Manipulator

Akdağ¹,

Şen²

2021

Deu Muhendislik Fakultesi Fen Ve Muhendislik

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In flexible manipulators, it is important the reduce end-effector vibrations. Suppression of endeffector vibrations significantly increases the precision of the performed work. Selection of velocity profile for giving motion to a manipulator is crucial to reduce the vibrations especially during highspeed motions. In this study, the effect of 3 rd order S-curve velocity motion profile time parameters which is related with natural period of flexible manipulator on endpoint vibrations of a flexible beam are investigated. The S-curve motion profile results and trapezoidal motion profile results are also compared. The acceleration and deceleration times of both S-curve and trapezoidal velocity motion profiles are selected equal. Finite elements model of flexible robot manipulator is created and solution of the transient response under given velocity profile is obtained by using Newmark method. The results obtained from the Newmark method are compared with the results obtained from the model established using ANSYS program. The effects of time parameters of S-curve motion profiles on endpoint vibrations were shown by comparing in terms of amplitudes.

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Genetic algorithm-based S-curve acceleration and deceleration for five-axis machine tools

Cited by 29 publications

References 28 publications

Velocity Planning for Astronaut Virtual Training Robot with High-Order Dynamic Constraints

Velocity Planning for Astronaut Virtual Training Robot with High-Order Dynamic Constraints

A novel minimum-time feedrate schedule method for five-axis sculpture surface machining with kinematic and geometric constraints

S-curve Motion Profile Design for Vibration Control of Single Link Flexible Manipulator

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