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1、AnImprovedApproachfortheAccelerationandDecelerationofIndustrialRobotsandCNCMachineToolsCuiJingaChuZhongYibaDepartmentofPrecisionInstrumentsandMechanology,TsinghuaUniversity,100084,China;bNationalLaboratoryofIntelligentTechnologyandSystems,TsinghuaUniversity,1000
2、84,China.chuzmailAsinghua.educnAbstract:Thispaperproposesanimprovedcoefficientsstoredapproachtomaximumaccelerationandthemaximumvelocity.IfpositiontheAccelerationandDecelerationofIndustrialRobotsandCNCMachinetrajectoriesofwhichthevelocityprofilesaresmootharegener
3、atedbyTools.Accordingtothedesiredcharacteristicsofaccelerationandtheselectionofpolynomialfunctions,itrequiresalotofcomputations.deceleration,eachsetofcoefficientsiscalculatedandisstored.GivenaOtherprevioustechniquesforgeneratingvelocityprofilesarebasedonmovingdi
4、stance,usingcommondivisorofthemaximumaccelerationandadigitalconvolution[3,4].Thesetechniquesaremuchmoreefficientdecelerationintervals,avelocityprofilehavingthedesiredcharacteristicsthanthetechniquesselectingpolynomialfunctionsandareeasilycanbegeneratedbyusingthe
5、secoefficients.Comparedwiththeselectionimplementedbyhardware.But,inthevelocityprofilesgeneratedbyofpolynomialfunctions,theapproachrequirealittleofcomputations,andthesetechniques,theaccelerationintervalisalwaysthesameastheComparedwithdigitalconvolution,itismorefl
6、exible.Atlast,decelerationintervalandthecharacteristicsofdecelerationareunsymmetricalsmoothvelocityprofileisgeneratedbythesimpledependentonthatoftheacceleration.Thus,somevelocityprofilesthatcoefficientsstoredtechniqueandtheimprovedcoefficientsstoredareusefulfori
7、ndustrialrobotsandCNCmachinetoolscannotbetechnique.Resultsdemonstratethattheimprovedtechniquecangenerategeneratedbythesetechniques[4].themoreefficientvelocityprofileforthevarieddistancemovementJaeWookJeon[5]proposesasimplecoefficientsstoredtechniqueforgenerating
8、velocityprofiles.AccordingtothedesiredI.INTRODUCTIONcharacteristicsofaccelerationanddeceleration,eachsetofcoefficientsiscalculatedandisstored.Givenamovingdistance,and
