A Speed Planning Algorithm for S-type Acceleration and Deceleration Combination

LI Mengcai; ZHAO Dongbiao; FENG Shengli

doi:10.13433/j.cnki.1003-8728.20220198

Volume 43 Issue 1

Jan. 2024

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2024 > 43(1): 54-63

LI Mengcai, ZHAO Dongbiao, FENG Shengli. A Speed Planning Algorithm for S-type Acceleration and Deceleration Combination[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(1): 54-63. doi: 10.13433/j.cnki.1003-8728.20220198

Citation:

LI Mengcai, ZHAO Dongbiao, FENG Shengli. A Speed Planning Algorithm for S-type Acceleration and Deceleration Combination[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(1): 54-63. doi: 10.13433/j.cnki.1003-8728.20220198

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A Speed Planning Algorithm for S-type Acceleration and Deceleration Combination

doi: 10.13433/j.cnki.1003-8728.20220198

School of Mechanical and Electronic Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received Date: 2021-10-30
Publish Date: 2024-01-25

Abstract

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.
- NURBS interpolation,
- S-type acceleration/deceleration,
- velocity smoothing,
- speed planning

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References(16)

References

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