NDLI: Local minimum time trajectory planning for five-axis machining with or without deflection

Content Provider	IEEE Xplore Digital Library
Author	Xin Wu Yaoyu Li Song Liu Perez, R.A.
Copyright Year	2009
Description	Author affiliation: Hurco Companies, Inc., One Technology Way, Indianapolis, 46268-0180, USA (Song Liu) \|\| Department of Mechanical Engineering, University of Wisconsin Milwaukee, 53201, USA (Xin Wu; Yaoyu Li; Perez, R.A.)
Abstract	This paper presents the algorithms to obtain the local minimum-time trajectory planning for the five-axis machining with or without the tool deflection. The tool and workpiece are first combined as a closed-chain system of rigid bodies. The tool path and shape are simplified to the tool-workpiece system curve and tool line. The forward and inverse kinematics are applied to obtain the kinematic relation between the system path and the position of the five motors. Based on the kinematic equations, the velocity, acceleration, and jerk of each motor can be derived. The motion trajectory of the end-effector of this system can be described through a sequence of intervals. In order to guarantee the dimension accuracy, the quintic polynomial was applied to fit the curve on each individual interval. The genetic algorithm (GA) with one generation is applied to find the minimum time period at every interval on the system curve in the case that the system has no deflection on the reference path. When there is the deflection on the system path, an algorithm is developed to find its projection at the $i^{th}$ interval on the reference path without deflection through the potential field method, and then the local minimum time periods at two new intervals composed with deflection, its projection, and the $(i+1)^{th}$ reference point, which is on the curve without deflection, respectively. The derived kinematic equations and the proposed algorithms are verified through the simulation.
Starting Page	5564
Ending Page	5569
File Size	587166
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160578
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Trajectory Machining Robot kinematics Rough surfaces Surface roughness Process planning Shape Path planning Acceleration Equations
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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