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Path planning for CNC machines considering centripetal acceleration and jerk

Shahzadeh, Abbas, Khosravi, Abbas and Nahavandi, Saeid 2013, Path planning for CNC machines considering centripetal acceleration and jerk, in SMC 2013 : Proceedings of the 2013 IEEE International Conference on Systems, Man and Cybernetics, IEEE, Piscataway, N.J., pp. 1759-1764.

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Title Path planning for CNC machines considering centripetal acceleration and jerk
Author(s) Shahzadeh, Abbas
Khosravi, AbbasORCID iD for Khosravi, Abbas orcid.org/0000-0001-6927-0744
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Conference name IEEE Systems, Man and Cybernetics. Conference (2013 : Manchester, England)
Conference location Manchester, England
Conference dates 13-16 Oct. 2013
Title of proceedings SMC 2013 : Proceedings of the 2013 IEEE International Conference on Systems, Man and Cybernetics
Editor(s) [Unknown]
Publication date 2013
Conference series IEEE Systems, Man and Cybernetics Conference
Start page 1759
End page 1764
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Keyword(s) trajectory planning
s-curve
limited jerk
centripetal jerk look-ahead
clothoids
sharpness
Summary In planning an s-curve speed profile for a computer numerical control (CNC) machine, centripetal acceleration and its derivative have to be considered. In a CNC machine, these quantities dictate how much voltage and current should be applied to servo motor windings. In this paper, the necessity of considering centripetal jerk in speed profile generation especially in the look-ahead mode is explained. It is demonstrated that the magnitude of centripetal jerk is proportional to the curvature derivative of the path known as "sharpness". It is also explained that a proper limited jerk motion is only possible when a G2-continuous machining path is planned. Then using a simplified mathematical representation of clothoids, a novel method for approximating a given path with a sequence of clothoid segments is proposed. Using this method, a semi-parallel G2-continuous path with adjustable deviation from the original shape for a sample machining contour is generated. Maximum permissible feed rate for the generated path is also calculated.
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2013, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30058822

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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Created: Mon, 09 Dec 2013, 10:47:30 EST

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