Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20206 - Computer hardware and architecture

Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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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Počet stran výsledku

8

Strana od-do

229-236

Název nakladatele

SCITEPRESS – Science and Technology Publications, Lda

Místo vydání

Setubal

Místo konání akce

Prague

Datum konání akce

29. 7. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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