Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control

Květoslav Belda

Abstract

The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bézier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. The key parts of the time parametrization comprise: computation of path length; time parametrization with respect to arc length; and decomposition to the individual Cartesian components describing individual curve coordinates. The theoretical results are presented by representative examples in 2D and 3D spaces.

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Paper Citation


in Harvard Style

Belda K. (2019). Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 229-236. DOI: 10.5220/0007831402290236


in Bibtex Style

@conference{icinco19,
author={Květoslav Belda},
title={Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={229-236},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007831402290236},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control
SN - 978-989-758-380-3
AU - Belda K.
PY - 2019
SP - 229
EP - 236
DO - 10.5220/0007831402290236