Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F19%3A00507149" target="_blank" >RIV/67985556:_____/19:00507149 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control
Original language description
The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bézier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. The key parts of the time parametrization comprise: computation of path length, time parametrization with respect to arc length, and decomposition to the individual Cartesian components describing individual curve coordinates. The theoretical results are presented by representative examples in 2D and 3D spaces.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20206 - Computer hardware and architecture
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019)
ISBN
978-989-758-380-3
ISSN
2184-2809
e-ISSN
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Number of pages
8
Pages from-to
229-236
Publisher name
SCITEPRESS – Science and Technology Publications, Lda
Place of publication
Setubal
Event location
Prague
Event date
Jul 29, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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