Study on NURBS Curve Interpolation Based on before Acceleration/Deceleration with Linear Jerk

Abstract

In high speed machining, excessive vibration and shock growing out of acceleration and jerk should be suppressed. Therefore, based on before acceleration/deceleration with linear jerk, a new NURBS curve interpolation was proposed. Interpolation feed and acceleration were planned employing before acceleration/deceleration with linear jerk evolution. During real-time interpolation, the interpolation feed and acceleration were calculated with polynomial fitting method, and with the second-order Taylor expansion, the interpolation parameter was computed. A NURBS curve was interpolated with the proposed method and the one with S curve acceleration/deceleration as comparison. The results indicated the proposed method not only maintain high feed but also reduce the interpolation output acceleration and jerk significantly, and its output jerk evolves along with time linearly. The proposed method can be used to reduce the vibration and shock from the high speed moving parts and improve their smoothness.

Motion Planning for Archwire Bending Robot in Orthodontic Treatments

“…Tian et al, proposed an improved S-shape acc/dec algorithm, which could quickly figure out the run time of the various stages [12]. And some researchers proposed acc/dec planning method by NURBS curvilinear interpolation [13][14][15]. Rew, Wook et al, proposed analytic equations for generating motion contour [16][17].…”