A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints
Aiming at the problems of joint jerk exceeding constraints in robot machining,a tool path smoothing algorithm was proposed considering joint jerk constraints.The FIR filter interpolation was used to smooth the five-axis tool paths.Path smoothing and speed planning were achieved in one step.The relationship of velocity,acceleration,and jerk between joint and tool was established,and the joint jerk did not exceed the constraint by adjusting the time constant.Time constant calculated by the proposed method was smaller than considering the acceleration constraints of robot joint.Simula-tion and experimental results show that the proposed algorithm may reduce the tracking error of the joint and improve the stability of the robot joint in machining.
万方数据
维普
