机械科学与技术2024，Vol.43Issue(1)：54-63,10.DOI:10.13433/j.cnki.1003-8728.20220198
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
摘要
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分类
信息技术与安全科学引用本文复制引用
李甍材,赵东标,冯胜利..一种S型加减速组合的速度规划算法[J].机械科学与技术,2024,43(1):54-63,10.基金项目
国家重点基础研究发展计划(2014CB046501) （2014CB046501）
