Comparison of NURBS trajectory interpolation algorithms for high-speed motion control systems

被引：7
|
作者：
Erwinski, Krystian [1 ]
Paprocki, Marcin [1 ]
Karasek, Gabriel [1 ]
机构：
[1] Nicolaus Copernicus Univ, Dept Automat & Measurment Syst, Inst Engn & Technol, Torun, Poland
来源：
2021 IEEE 19TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (PEMC) | 2021年
关键词：
feedrate profile generation; jerk limited trajectories; real-time; NURBS; EtherCAT; CNC; GENERATION; PATH;
D O I：
10.1109/PEMC48073.2021.9432561
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In state of the art computerized numerically controlled (CNC) machines toolpaths are often defined as polynomial Non-Uniform Rational B-Spline (NURBS) curves. This article investigates three main types of interpolation algorithms for NURBS toolpaths. These are Taylor series interpolation (TSI), predictor-corrector interpolation (PCI) and feedrate correction polynomial interpolation (FCPI). Interpolation accuracy of each method is investigated for an example NURBS toolpath. Interpolation computation time is also investigated for each method. Results are presented that compare the accuracy and computation efficiency of each method. It is shown that the Predictor-Corrector interpolation method achieves the best accuracy of the investigated methods without significant increase in computation time.
引用
收藏
页码：527 / 533
页数：7
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