TIME-OPTIMAL FEEDRATES ALONG CURVED PATHS FOR CARTESIAN CNC MACHINES WITH PRESCRIBED BOUNDS ON AXIS VELOCITIES AND ACCELERATIONS
The authors consider the problem of specifying the feedrate variation along a curved path, that yields the minimum traversal time for a multi-axis CNC machine subject to given bounds on the feasible velocity and acceleration along each axis. The torque-speed characteristics of the axis drive motors...
Uloženo v:
| Vydáno v: | International journal of robotics & automation Ročník 22; číslo 2; s. 112 - 125 |
|---|---|
| Hlavní autoři: | , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Calgary
ACTA Press
01.01.2007
|
| Témata: | |
| ISSN: | 0826-8185, 1925-7090 |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| Abstract | The authors consider the problem of specifying the feedrate variation along a curved path, that yields the minimum traversal time for a multi-axis CNC machine subject to given bounds on the feasible velocity and acceleration along each axis. The torque-speed characteristics of the axis drive motors are first discussed, and are used to determine constraints on the velocity and acceleration for each axis. For a path specified by a polynomial parametric curve r(ξ), it is shown that (the square of) the time-optimal feedrate can be determined as a piecewise-rational function of the curve parameter ξ, with break-points that correspond to the roots of certain polynomials. In general, each feedrate segment is characterized by the saturation of either velocity or acceleration on one machine axis at each instant throughout the motion. The feedrate function admits a real-time interpolator algorithm that can drive the machine from the analytic curve description, eliminating the need for piecewise-linear/circular G code approximations. The theoretical and computational aspects of such time-optimal feedrates are presented, along with experimental results from implementation on a three-axis CNC mill driven by an open-architecture software controller. Compared to prior time-optimal feedrate algorithms (based on acceleration bounds only), the new algorithms give physically valid feedrates at high speeds, where the motor voltage ratings become a limiting factor. [PUBLICATION ABSTRACT] |
|---|---|
| AbstractList | The authors consider the problem of specifying the feedrate variation along a curved path, that yields the minimum traversal time for a multi-axis CNC machine subject to given bounds on the feasible velocity and acceleration along each axis. The torque-speed characteristics of the axis drive motors are first discussed, and are used to determine constraints on the velocity and acceleration for each axis. For a path specified by a polynomial parametric curve r(&D*x), it is shown that (the square of) the time-optimal feedrate can be determined as a piecewise-rational function of the curve parameter &D*x, with break-points that correspond to the roots of certain polynomials. In general, each feedrate segment is characterized by the saturation of either velocity or acceleration on one machine axis at each instant throughout the motion. The feedrate function admits a real-time interpolator algorithm that can drive the machine from the analytic curve description, eliminating the need for piecewise-linear/circular G code approximations. The theoretical and computational aspects of such time-optimal feedrates are presented, along with experimental results from implementation on a three-axis CNC mill driven by an open-architecture software controller. Compared to prior time-optimal feedrate algorithms (based on acceleration bounds only), the new algorithms give physically valid feedrates at high speeds, where the motor voltage ratings become a limiting factor. The authors consider the problem of specifying the feedrate variation along a curved path, that yields the minimum traversal time for a multi-axis CNC machine subject to given bounds on the feasible velocity and acceleration along each axis. The torque-speed characteristics of the axis drive motors are first discussed, and are used to determine constraints on the velocity and acceleration for each axis. For a path specified by a polynomial parametric curve r(ξ), it is shown that (the square of) the time-optimal feedrate can be determined as a piecewise-rational function of the curve parameter ξ, with break-points that correspond to the roots of certain polynomials. In general, each feedrate segment is characterized by the saturation of either velocity or acceleration on one machine axis at each instant throughout the motion. The feedrate function admits a real-time interpolator algorithm that can drive the machine from the analytic curve description, eliminating the need for piecewise-linear/circular G code approximations. The theoretical and computational aspects of such time-optimal feedrates are presented, along with experimental results from implementation on a three-axis CNC mill driven by an open-architecture software controller. Compared to prior time-optimal feedrate algorithms (based on acceleration bounds only), the new algorithms give physically valid feedrates at high speeds, where the motor voltage ratings become a limiting factor. [PUBLICATION ABSTRACT] |
| Author | Timar, S D Boyadjieff, C L Farouki, R T |
| Author_xml | – sequence: 1 givenname: S D surname: Timar fullname: Timar, S D – sequence: 2 givenname: R T surname: Farouki fullname: Farouki, R T – sequence: 3 givenname: C L surname: Boyadjieff fullname: Boyadjieff, C L |
| BookMark | eNpdkFFPgzAQxxszE7fpd2g08Y3ZllHKY1e6UcPoAmz6tkAHiQuCju3dj27JfDK5y_-S-93_LjcBo7ZrKwCeMJoRF9OX1-5yaotmRhC1ifwZGUqHsIDegDEOiOf4KEAjMEaMUIdh5t2BSd8fESLUc9kY_ORqLR29scJjuJQyTHkuM8hjnayg2KY7GcINz6MMLnUKBU9tV_EEikTANReRSiz9pvIIblKZiVQt7MBCb5MwgzqB_F1lcCdjLVSuBt8khFwIGUu7R-kkuwe3ddH01cOfTsF2KXMRObFeKcFjx9hLzw4xxiO49A2qytqfH1wvqKjxaRnUmNo4EMQOxuCgcAtmTDmvCxrg2qspIoz6zJ2C56vv16n7vlT9ef_50ZuqaYq26i793kUDSAbw8R94vH653xPMmO-zOXN_AVAwaNA |
| ContentType | Journal Article |
| Copyright | Copyright ACTA Press 2007 |
| Copyright_xml | – notice: Copyright ACTA Press 2007 |
| DBID | 3V. 7SC 7SP 7TB 7WY 7WZ 7XB 87Z 88I 8AL 8FD 8FE 8FG 8FK 8FL ABJCF ABUWG AFKRA ARAPS AZQEC BENPR BEZIV BGLVJ CCPQU DWQXO FR3 FRNLG F~G GNUQQ HCIFZ JQ2 K60 K6~ K7- L.- L6V L7M L~C L~D M0C M0N M2P M7S P5Z P62 PHGZM PHGZT PKEHL PQBIZ PQBZA PQEST PQGLB PQQKQ PQUKI PTHSS PYYUZ Q9U F28 |
| DOI | 10.2316/Journal.206.2007.2.206-2896 |
| DatabaseName | ProQuest Central (Corporate) Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts ABI/INFORM Collection ABI/INFORM Global (PDF only) ProQuest Central (purchase pre-March 2016) ABI/INFORM Global (Alumni Edition) Science Database (Alumni Edition) Computing Database (Alumni Edition) Technology Research Database ProQuest SciTech Collection ProQuest Technology Collection ProQuest Central (Alumni) (purchase pre-March 2016) ABI/INFORM Collection (Alumni Edition) Materials Science & Engineering Collection ProQuest Central (Alumni) ProQuest Central UK/Ireland Health Research Premium Collection ProQuest Central Essentials ProQuest Central Business Premium Collection Technology Collection ProQuest One Community College ProQuest Central Korea Engineering Research Database Business Premium Collection (Alumni) ABI/INFORM Global (Corporate) ProQuest Central Student SciTech Premium Collection ProQuest Computer Science Collection ProQuest Business Collection (Alumni Edition) ProQuest Business Collection Computer Science Database ABI/INFORM Professional Advanced ProQuest Engineering Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional ABI/INFORM Global Computing Database Science Database Engineering Database Advanced Technologies & Aerospace Database ProQuest Advanced Technologies & Aerospace Collection ProQuest Central Premium ProQuest One Academic (New) ProQuest One Academic Middle East (New) ProQuest One Business (OCUL) ProQuest One Business (Alumni) ProQuest One Academic Eastern Edition (DO NOT USE) ProQuest One Applied & Life Sciences ProQuest One Academic (retired) ProQuest One Academic UKI Edition Engineering Collection ABI/INFORM Collection China ProQuest Central Basic ANTE: Abstracts in New Technology & Engineering |
| DatabaseTitle | ProQuest Business Collection (Alumni Edition) Computer Science Database ProQuest Central Student ProQuest Advanced Technologies & Aerospace Collection ProQuest Central Essentials ProQuest Computer Science Collection Computer and Information Systems Abstracts SciTech Premium Collection ABI/INFORM Complete ProQuest One Applied & Life Sciences ProQuest Central (New) Engineering Collection Advanced Technologies & Aerospace Collection Business Premium Collection ABI/INFORM Global Engineering Database ProQuest Science Journals (Alumni Edition) ProQuest One Academic Eastern Edition Electronics & Communications Abstracts ProQuest Technology Collection ProQuest Business Collection ProQuest One Academic UKI Edition Engineering Research Database ProQuest One Academic ProQuest One Academic (New) ABI/INFORM Global (Corporate) ProQuest One Business Technology Collection Technology Research Database Computer and Information Systems Abstracts – Academic ProQuest One Academic Middle East (New) Mechanical & Transportation Engineering Abstracts ProQuest Central (Alumni Edition) ProQuest One Community College ProQuest Central ABI/INFORM Professional Advanced ProQuest Engineering Collection ProQuest Central Korea Advanced Technologies Database with Aerospace ABI/INFORM Complete (Alumni Edition) ProQuest Computing ABI/INFORM Global (Alumni Edition) ProQuest Central Basic ProQuest Science Journals ProQuest Computing (Alumni Edition) ABI/INFORM China ProQuest SciTech Collection Computer and Information Systems Abstracts Professional Advanced Technologies & Aerospace Database Materials Science & Engineering Collection ProQuest One Business (Alumni) ProQuest Central (Alumni) Business Premium Collection (Alumni) ANTE: Abstracts in New Technology & Engineering |
| DatabaseTitleList | Technology Research Database ProQuest Business Collection (Alumni Edition) |
| Database_xml | – sequence: 1 dbid: BENPR name: ProQuest Central url: https://www.proquest.com/central sourceTypes: Aggregation Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1925-7090 |
| EndPage | 125 |
| ExternalDocumentID | 1531584811 |
| Genre | Feature |
| GroupedDBID | -~X .DC 29J 3V. 5GY 7SC 7SP 7TB 7WY 7XB 88I 8AL 8FD 8FE 8FG 8FK 8FL 8R4 8R5 ABJCF ABUWG ACGOD ACIWK AENEX AFKRA ALMA_UNASSIGNED_HOLDINGS ARAPS AZQEC BENPR BEZIV BGLVJ BPHCQ CCPQU CS3 DU5 DWQXO EBS EJD FR3 FRNLG GNUQQ HCIFZ JQ2 K60 K6V K6~ K7- L.- L6V L7M L~C L~D M0C M0N M2P M7S P2P P62 PHGZM PHGZT PKEHL PQBIZ PQBZA PQEST PQGLB PQQKQ PQUKI PROAC PTHSS PUEGO Q2X Q9U QAV SJN F28 |
| ID | FETCH-LOGICAL-c265t-2cc521b7c0ebf74d359e6c76b9f16f16d208dcc19a3a8ccb4fa691f5f60286783 |
| IEDL.DBID | M2P |
| ISICitedReferencesCount | 1 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000248241900002&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0826-8185 |
| IngestDate | Thu Sep 04 14:38:05 EDT 2025 Sat Aug 23 12:53:01 EDT 2025 |
| IsPeerReviewed | false |
| IsScholarly | true |
| Issue | 2 |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c265t-2cc521b7c0ebf74d359e6c76b9f16f16d208dcc19a3a8ccb4fa691f5f60286783 |
| Notes | SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 14 ObjectType-Article-2 content type line 23 |
| PQID | 218877848 |
| PQPubID | 42907 |
| PageCount | 14 |
| ParticipantIDs | proquest_miscellaneous_30028628 proquest_journals_218877848 |
| PublicationCentury | 2000 |
| PublicationDate | 2007-01-01 |
| PublicationDateYYYYMMDD | 2007-01-01 |
| PublicationDate_xml | – month: 01 year: 2007 text: 2007-01-01 day: 01 |
| PublicationDecade | 2000 |
| PublicationPlace | Calgary |
| PublicationPlace_xml | – name: Calgary |
| PublicationTitle | International journal of robotics & automation |
| PublicationYear | 2007 |
| Publisher | ACTA Press |
| Publisher_xml | – name: ACTA Press |
| SSID | ssj0026538 |
| Score | 1.6824467 |
| Snippet | The authors consider the problem of specifying the feedrate variation along a curved path, that yields the minimum traversal time for a multi-axis CNC machine... |
| SourceID | proquest |
| SourceType | Aggregation Database |
| StartPage | 112 |
| SubjectTerms | Acceleration Algorithms Differential equations Magnetic fields Motors Power supply Velocity |
| Title | TIME-OPTIMAL FEEDRATES ALONG CURVED PATHS FOR CARTESIAN CNC MACHINES WITH PRESCRIBED BOUNDS ON AXIS VELOCITIES AND ACCELERATIONS |
| URI | https://www.proquest.com/docview/218877848 https://www.proquest.com/docview/30028628 |
| Volume | 22 |
| WOSCitedRecordID | wos000248241900002&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVPQU databaseName: ABI/INFORM Collection customDbUrl: eissn: 1925-7090 dateEnd: 20090131 omitProxy: false ssIdentifier: ssj0026538 issn: 0826-8185 databaseCode: 7WY dateStart: 20060101 isFulltext: true titleUrlDefault: https://www.proquest.com/abicomplete providerName: ProQuest – providerCode: PRVPQU databaseName: ABI/INFORM Global customDbUrl: eissn: 1925-7090 dateEnd: 20090131 omitProxy: false ssIdentifier: ssj0026538 issn: 0826-8185 databaseCode: M0C dateStart: 20060101 isFulltext: true titleUrlDefault: https://search.proquest.com/abiglobal providerName: ProQuest – providerCode: PRVPQU databaseName: Advanced Technologies & Aerospace Database customDbUrl: eissn: 1925-7090 dateEnd: 20090131 omitProxy: false ssIdentifier: ssj0026538 issn: 0826-8185 databaseCode: P5Z dateStart: 20060101 isFulltext: true titleUrlDefault: https://search.proquest.com/hightechjournals providerName: ProQuest – providerCode: PRVPQU databaseName: Computer Science Database customDbUrl: eissn: 1925-7090 dateEnd: 20090131 omitProxy: false ssIdentifier: ssj0026538 issn: 0826-8185 databaseCode: K7- dateStart: 20060101 isFulltext: true titleUrlDefault: http://search.proquest.com/compscijour providerName: ProQuest – providerCode: PRVPQU databaseName: Engineering Database customDbUrl: eissn: 1925-7090 dateEnd: 20090131 omitProxy: false ssIdentifier: ssj0026538 issn: 0826-8185 databaseCode: M7S dateStart: 20060101 isFulltext: true titleUrlDefault: http://search.proquest.com providerName: ProQuest – providerCode: PRVPQU databaseName: ProQuest Central customDbUrl: eissn: 1925-7090 dateEnd: 20090131 omitProxy: false ssIdentifier: ssj0026538 issn: 0826-8185 databaseCode: BENPR dateStart: 20060101 isFulltext: true titleUrlDefault: https://www.proquest.com/central providerName: ProQuest – providerCode: PRVPQU databaseName: Science Database customDbUrl: eissn: 1925-7090 dateEnd: 20090131 omitProxy: false ssIdentifier: ssj0026538 issn: 0826-8185 databaseCode: M2P dateStart: 20060101 isFulltext: true titleUrlDefault: https://search.proquest.com/sciencejournals providerName: ProQuest |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV3fb9MwELbYhhA8jN9ibBRL8GotaRzbeUKum9KINo2alBVeKseOJV5aWDue-dN3TrMKaRIvSNFFUWQnupz93Z0v_hD6GFDDTBw4wpqIE6rrmAgnKEkSI2howWZs0JJN8DwXy2VSdLU5266s8m5ObCdquzE-R34JUCQ4F1R8-vmLeNIov7jaMWgcoRNwbEJf0TXtF4d4i8UtkTWAHCMelx6hD23lc8guO28P4kO238bQ_5PFCEQf7N6k3CLN6Ol_vuMzdNo9FMu9TTxHD5r1C_Tkr40HX6I_VTZNyayAk5zgUZoO57JKSywns_wzVov513SIC1mNSwxRIlbe6y0zmWOVKzyVauy5OvBVVo2x_4Rqng2gwWC2yIclnuVYLrMSe3ZPlVWZ7zcfYqlUOkn3ObHyFVqM0kqNScfFQAzocUf6xgDQ19wETe04tVGcNMxwVicuZHDYfiCsMWGiIy2MqanTLAld7Bg4MACI0Wt0vN6smzcI08bYWDvqAt8Rq7VmTGjbWHCdKEDHGTq_0-6qG1Db1UG1Z-j94S6MBL-8odfN5ma7inz8yPri7T_bn6PH-_Ssz6JcoOPd9U3zDj00v3c_ttc9dMSvvvXQySDNizlcfeEE5DRQvda0vOQlyCL-fgufwMt0 |
| linkProvider | ProQuest |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V1Lj9MwEB4tC-Jx4LUglgXWEnC0Ng_HcQ4IeZ2URJumVZNCb93EdiQuLWy7u-LGH-I_YidthYTEbQ9IkXKIPFI84_k84_F8AO8cIqkMnBZT7YeY1E2AWcsIjiLJiKuMzSinI5sIi4LNZtF4D35t78LYssqtT-wctVpKmyM_MVDEwpAR9vHbd2xJo-zh6pZBo7eKM_3j2kRsqw9ZbNT73vMGSSVSvCEVwNKjwRp7UhrEakLp6KYNifKDSFMZ0iZqXWoe5TlMSelGtV8zKRvS1jRy26ClBomNZ_eN3Ftwm9jGYrZS0Bvv4jsadMTZBlQptjh4F952ldYuPdnsLk08Svu2ifYOGMUm2qF_gUCHbINH_9mcPIaHm59EvLf5J7CnF0_hwR-NFQ_gZ5UNEzwamxfP0SBJ4gmvkhLxfFR8QmI6-ZzEaMyrtEQmCkbC7urLjBdIFAINuUgtFwn6klUpsiYqJtmpGXA6mhZxiUYF4rOsRJa9VGRVZuUWMeJCJHnS5_zKZzC9kSl4DvuL5UK_AES0VEHdktaxgmhT15SyWmlltobEQOMhHG21Od84jNV8p8pDON59NSvdHt_UC728XM19Gx9Tj7385_hjuJdWw3yeZ8XZEdzvU9E2Y_QK9tcXl_o13JFX66-rized8SI4v2nL-A2CISMZ |
| linkToPdf | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V3Nb9MwFLfGQNM48I0YA2YJOFrNh-M4B4QyJ6XRujRqUlZxKYk_pF1aWDsQN_4t_juek7RCQuK2A1KkHCJbit_z-_n3_OwfQm8cKpkMHEOY9kNC6yYg3HBKokhy6irwGeW0YhNhnvP5PCr20K_tWRhbVrmNiW2gVitpc-QDgCIehpzygemrIopk-P7LV2IFpOxG61ZNo_OQM_3jO7C39bssAVO_9bxhWokR6QUGiPRYsCGelIBeTSgd3ZiQKj-INJMhayLjMniU53AlpRvVfs2lbKipWeSawDBAZYjyPvR7C90OgWLaasIi-LTjeixoRbQBYBmxmHiAXrdV1y4b9CtN4Kasu0LRngdjBJgP-wsQWpQb3v-Px-cButf_MI67ufAQ7enlI3T3jwsXH6OfVXaekkkBr3iMh2maTOMqLXE8nuQfsJhNP6YJLuJqVGJgx1jY1X6ZxTkWucDnsRhZjRJ8kVUjbF1XTLNTaHA6meVJiSc5judZia2qqciqzPabJzgWIh2nXS6wfIJmNzIET9H-crXUzxCmWqqgNtQ4tiPW1DVjvFZawZKRAmQeoeOtZRd9IFkvdmY9Qie7rxAB7LZOvdSr6_XCt7yZefz5P9ufoANwiMU4y8-O0WGXobaJpBdof3N1rV-iO_Lb5nJ99ar1Y4w-37Rj_Abi4ywF |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=TIME-OPTIMAL+FEEDRATES+ALONG+CURVED+PATHS+FOR+CARTESIAN+CNC+MACHINES+WITH+PRESCRIBED+BOUNDS+ON+AXIS+VELOCITIES+AND+ACCELERATIONS&rft.jtitle=International+journal+of+robotics+%26+automation&rft.au=Timar%2C+S+D&rft.au=Farouki%2C+R+T&rft.au=Boyadjieff%2C+C+L&rft.date=2007-01-01&rft.pub=ACTA+Press&rft.issn=0826-8185&rft.eissn=1925-7090&rft.volume=22&rft.issue=2&rft.spage=112&rft_id=info:doi/10.2316%2FJournal.206.2007.2.206-2896&rft.externalDBID=HAS_PDF_LINK&rft.externalDocID=1531584811 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0826-8185&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0826-8185&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0826-8185&client=summon |