Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6876606 | Computer Aided Geometric Design | 2018 | 18 Pages |
Abstract
We present a configurable trajectory planning strategy on planar paths for offline definition of time-dependent C2 piecewise quintic feedrates. The scheduler can be applied to any path with a sufficiently smooth piecewise parametric representation and it can be used in different formulations subdivided in strict and relaxed. In the first case, control on chord tolerance, as well as on the Cartesian components of velocity, acceleration and jerk is ensured. Since the relaxed formulations can usually still ensure the desired bounds while simultaneously producing faster motions, the configurability feature is useful not only when reduced motion control is required but also when full kinematic control has to be guaranteed. When Pythagorean-hodograph spline curves are considered, the corresponding accurate and efficient CNC interpolator algorithms can be exploited, as shown in the numerical experiments.
Related Topics
Physical Sciences and Engineering
Computer Science
Computer Graphics and Computer-Aided Design
Authors
Carlotta Giannelli, Duccio Mugnaini, Alessandra Sestini,