一种S型加减速组合的速度规划算法
A Speed Planning Algorithm for S-type Acceleration and Deceleration Combination
李甍材 1赵东标 1冯胜利1
作者信息
- 1. 南京航空航天大学 机电学院,南京 210016
- 折叠
摘要
针对传统NURBS曲线插补S型加减速的改进难以在加工柔性和加工效率上同时兼顾的问题,提出一种将多种S型加减速组合的速度规划算法.选取分别在加工柔性和加工效率上单独改进的两种S型加减速,并设计了一种兼顾柔性和效率的新改进S型加减速.在速度规划中,根据简化后的4 种加减速形式,灵活组合这3 种S型加减速,并采取合并曲线分段的速度平滑方式,减少了曲线段间的速度波动.仿真结果表明:该算法能在提高加工效率的同时满足加加速度的连续,最终实现加工柔性和加工效率的兼得.
Abstract
Because it is difficult to take into account the machining flexibility and machining efficiency at the same time in improving the S-type acceleration and deceleration for the traditional NURBS curve interpolation,a speed planning algorithm that combines multiple S-type accelerations and decelerations is proposed.Two S-type acceleration and deceleration models which have been separately improved for machining flexibility and efficiency are selected.A novel and improved S-type acceleration and deceleration model with both flexibility and efficiency considered is designed.According to the simplified four acceleration and deceleration forms,the speed planning algorithm flexibly combines the three models,and the speed smoothing method that merges curve segments is adopted to reduce the velocity fluctuation between the curve segments.The simulation results show that the speed planning algorithm can improve the machining efficiency and satisfy the continuity of jerk,finally achieving both machining flexibility and machining efficiency.
关键词
NURBS插补/S型加减速/速度平滑/速度规划Key words
NURBS interpolation/S-type acceleration/deceleration/velocity smoothing/speed planning引用本文复制引用
基金项目
国家重点基础研究发展计划(2014CB046501)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据