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. Attached Files Name Description MIMEType Size Downloads Title Path planning for CNC machines considering centripetal acceleration and jerk Author(s) Shahzadeh, Abbas Khosravi, Abbas orcid.org/0000-0001-6927-0744 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 Collections: Institute for Intelligent Systems Research and Innovation (IISRI) GTP Research   Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Mon, 09 Dec 2013, 10:47:30 EST Mon, 09 Dec 2013, 12:53:13 EST Mon, 16 Dec 2013, 13:52:02 EST Mon, 17 Feb 2014, 15:52:09 EST Tue, 18 Feb 2014, 08:42:55 EST Mon, 11 Aug 2014, 10:31:01 EST Fri, 17 Oct 2014, 12:31:35 EST Wed, 21 Oct 2015, 14:56:41 EST Sat, 15 Apr 2017, 02:35:29 EST Filtered Full Citation counts:   Cited 3 times in TR Web of Science Cited 3 times in Scopus Search Google Scholar Access Statistics: 649 Abstract Views, 2 File Downloads  -  Detailed Statistics Created: Mon, 09 Dec 2013, 10:47:30 EST

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