A Generalized Approach for the Acceleration.pdf

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1、IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.47,NO.1,FEBRUARY2000133AGeneralizedApproachfortheAccelerationandDecelerationofIndustrialRobotsandCNCMachineToolsJaeWookJeon,Member,IEEE,andYoungYoulHaAbstract—Manytechniquesfortheaccelerationanddecelera-CNCmachinetools.Oneofthemisgeneratingpo

2、sitiontrajec-tionofindustrialrobotsandcomputernumericalcontrol(CNC)toriesbytheselectionofpolynomialfunctions[1].Thistech-machinetoolshavebeenproposedinordertomakeindustrialniquecangeneratesomanykindsofaccelerationanddecelera-robotsandCNCmachinetoolsperformgiventasksefficiently.tionchar

3、acteristicsand,furthermore,canmakethecharacteris-Althoughthetechniquesselectingpolynomialfunctionscangeneratevariousaccelerationanddecelerationcharacteristics,theticsofdecelerationbeindependentfromthatofacceleration.Inmajorproblemisthecomputationalload.Thedigitalconvolutionordertoachie

4、vehigh-performancemotioncontrol,themotiontechniquesaremoreefficientthanthetechniquesselectingpoly-profilesmustbematchedtothesystemlimitssuchasthemax-nomialfunctions.However,neithervelocityprofilesofwhichtheimumaccelerationandthemaximumvelocity.Ifthemotionpro-decelerationcharacteristics

5、isindependentfromtheaccelerationfilesmatchedtothesystemlimitsaregeneratedbytheselectioncharacteristicsnorthoseofwhichtheaccelerationintervalisdifferentfromthedecelerationintervalcanbegeneratedbytheofpolynomialfunctions,theamountofcomputationbecomesdigitalconvolutiontechniques.Thispaper

6、proposesageneralizedlargerastheorderofthepolynomialbecomeshigher.Thatis,approachforgeneratingvelocityprofilesthatcannotbegeneratedthecomputationalloadisincreasedalmostexponentiallywithbythedigitalconvolutiontechniques.Accordingtothedesiredtheorderofpolynomial.Thus,thepositiontrajectori

7、esbythecharacteristicsofaccelerationanddeceleration,eachsetofcoef-selectionofpolynomialfunctionsthatarematchedtothesystemficientsiscalculatedandisstored.Givenamovingdistance,andaccelerationanddecelerationintervals,avelocityprofilehavinglimitsareconfinedtosomefixedpatternsofwhichtheve