| Title |
Software Acceleration/Deceleration Methods for Industrial Robots and CNC Machine Tools |
| Keywords |
직선,원호,파라볼릭가감속 알고리즘 ; 산업용로보트 ; CNC공작기계 ; 경로오차 ; 디지틀신호처리기 Linear,exponential,and parabolic acceleration/deceleration algorithms ; Industrial robot ; CNC machine tool ; Path error ; Digital signal processor |
| Abstract |
In this paper, we propose software algorithms which provide acceleration/deceleration characteristics essential to high dynamic performance at the transient states where industrial robots or CNC machine tools start and stop. Software acceleration/deceleration methods are derived from the mathematical analyses of typical hardware systems controlling acceleration/deceleration. These methods make servo motors, which drive axes of motion, start and stop smoothly without vibration in the repeated tools. The path error, which is one of the most significant factors in the performance evaluation of industrial robots or CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analyses show that path error consists of the distance between the required path and generated one through acceleration/deceleration, and that between the generated one through acceleration/deceleration algorithm and the actual one of the end effector of the industrial robot or tool of the CNC equipment. |