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1、IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.47,NO.1,FEBRUARY2000133AGeneralizedApproachfortheAccelerationandDecelerationofIndustrialRobotsandCNCMachineToolsJaeWookJeon,Member,IEEE,andYoungYoulHaAbstract—Manytechniquesfortheaccelerationanddecelera-CNCmachinetools.Oneofthemisgeneratingpo
2、sitiontrajec-tionofindustrialrobotsandcomputernumericalcontrol(CNC)toriesbytheselectionofpolynomialfunctions[1].Thistech-machinetoolshavebeenproposedinordertomakeindustrialniquecangeneratesomanykindsofaccelerationanddecelera-robotsandCNCmachinetoolsperformgiventasksefficiently.tionchar
3、acteristicsand,furthermore,canmakethecharacteris-Althoughthetechniquesselectingpolynomialfunctionscangeneratevariousaccelerationanddecelerationcharacteristics,theticsofdecelerationbeindependentfromthatofacceleration.Inmajorproblemisthecomputationalload.Thedigitalconvolutionordertoachie
4、vehigh-performancemotioncontrol,themotiontechniquesaremoreefficientthanthetechniquesselectingpoly-profilesmustbematchedtothesystemlimitssuchasthemax-nomialfunctions.However,neithervelocityprofilesofwhichtheimumaccelerationandthemaximumvelocity.Ifthemotionpro-decelerationcharacteristics
5、isindependentfromtheaccelerationfilesmatchedtothesystemlimitsaregeneratedbytheselectioncharacteristicsnorthoseofwhichtheaccelerationintervalisdifferentfromthedecelerationintervalcanbegeneratedbytheofpolynomialfunctions,theamountofcomputationbecomesdigitalconvolutiontechniques.Thispaper
6、proposesageneralizedlargerastheorderofthepolynomialbecomeshigher.Thatis,approachforgeneratingvelocityprofilesthatcannotbegeneratedthecomputationalloadisincreasedalmostexponentiallywithbythedigitalconvolutiontechniques.Accordingtothedesiredtheorderofpolynomial.Thus,thepositiontrajectori
7、esbythecharacteristicsofaccelerationanddeceleration,eachsetofcoef-selectionofpolynomialfunctionsthatarematchedtothesystemficientsiscalculatedandisstored.Givenamovingdistance,andaccelerationanddecelerationintervals,avelocityprofilehavinglimitsareconfinedtosomefixedpatternsofwhichtheve
