Author:
Květoslav Belda
Affiliation:
Department of Adaptive Systems, The Czech Academy of Sciences, Institute of Information Theory and Automation, Pod Vodárenskou věží 4, 182 08 Prague 8 and Czech Republic
Keyword(s):
Path Model, G-Code, Path Smoothing, Time Parametrization, Bézier Curves, Industrial Robotics.
Related
Ontology
Subjects/Areas/Topics:
Computer-Based Manufacturing Technologies
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
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.