Real-Time Jerk Limited Feedrate Profiling and Interpolation for Linear Motor Multiaxis Machines Using NURBS Toolpaths
In this article, a NURBS toolpath feedrate profile generation algorithm for a biaxial linear motor control system is presented. High achievable velocities and accelerations of linear motor machines present new computational challenges in implementing feedrate generation and toolpath interpolation al...
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| Veröffentlicht in: | IEEE transactions on industrial informatics 2022-11, Vol.18 (11), p.7560-7571 |
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| creator | Erwinski, Krystian Wawrzak, Andrzej Paprocki, Marcin |
| description | In this article, a NURBS toolpath feedrate profile generation algorithm for a biaxial linear motor control system is presented. High achievable velocities and accelerations of linear motor machines present new computational challenges in implementing feedrate generation and toolpath interpolation algorithms in real-time controllers. The proposed algorithm is capable of online generation of the feedrate profile with axial acceleration and jerk constraints. Each stage of the feedrate profiling algorithm is described with attention being given to both performance and implementation aspects. Furthermore, an alternative to the commonly used Taylor series interpolation method is also tested to ensure minimal interpolation errors. The feedrate profiling and interpolation algorithms' implementation in a PC-based controller with real-time Linux kernel is described. Experimental results are presented that confirm that the algorithm is capable of limiting acceleration and jerk in the machine's axes and it is low computation time enables real-time on-line operation in a PC-based CNC controller. |
| doi_str_mv | 10.1109/TII.2022.3147806 |
| format | Article |
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High achievable velocities and accelerations of linear motor machines present new computational challenges in implementing feedrate generation and toolpath interpolation algorithms in real-time controllers. The proposed algorithm is capable of online generation of the feedrate profile with axial acceleration and jerk constraints. Each stage of the feedrate profiling algorithm is described with attention being given to both performance and implementation aspects. Furthermore, an alternative to the commonly used Taylor series interpolation method is also tested to ensure minimal interpolation errors. The feedrate profiling and interpolation algorithms' implementation in a PC-based controller with real-time Linux kernel is described. 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(IEEE) 2022</rights><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c221t-56dd2700a70571f86b6be9d6148dc00f2f7ad65d196fd742adef02a918d206793</citedby><cites>FETCH-LOGICAL-c221t-56dd2700a70571f86b6be9d6148dc00f2f7ad65d196fd742adef02a918d206793</cites><orcidid>0000-0003-2161-6288 ; 0000-0001-6899-1785 ; 0000-0003-2687-1181</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9699084$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/9699084$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Erwinski, Krystian</creatorcontrib><creatorcontrib>Wawrzak, Andrzej</creatorcontrib><creatorcontrib>Paprocki, Marcin</creatorcontrib><title>Real-Time Jerk Limited Feedrate Profiling and Interpolation for Linear Motor Multiaxis Machines Using NURBS Toolpaths</title><title>IEEE transactions on industrial informatics</title><addtitle>TII</addtitle><description>In this article, a NURBS toolpath feedrate profile generation algorithm for a biaxial linear motor control system is presented. High achievable velocities and accelerations of linear motor machines present new computational challenges in implementing feedrate generation and toolpath interpolation algorithms in real-time controllers. The proposed algorithm is capable of online generation of the feedrate profile with axial acceleration and jerk constraints. Each stage of the feedrate profiling algorithm is described with attention being given to both performance and implementation aspects. Furthermore, an alternative to the commonly used Taylor series interpolation method is also tested to ensure minimal interpolation errors. The feedrate profiling and interpolation algorithms' implementation in a PC-based controller with real-time Linux kernel is described. Experimental results are presented that confirm that the algorithm is capable of limiting acceleration and jerk in the machine's axes and it is low computation time enables real-time on-line operation in a PC-based CNC controller.</description><subject>Algorithms</subject><subject>Computerized numerically controlled (CNC)</subject><subject>Computing time</subject><subject>Controllers</subject><subject>Electric motors</subject><subject>feedrate profile</subject><subject>Heuristic algorithms</subject><subject>Informatics</subject><subject>Interpolation</subject><subject>linear motor</subject><subject>linux RTAI</subject><subject>linuxCNC</subject><subject>Multiaxis</subject><subject>NURBS</subject><subject>Personal computers</subject><subject>Real time operation</subject><subject>real-time</subject><subject>Real-time systems</subject><subject>s-curve</subject><subject>Splines (mathematics)</subject><subject>Surface reconstruction</subject><subject>Surface topography</subject><subject>Taylor series</subject><issn>1551-3203</issn><issn>1941-0050</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kNFPwjAQhxejiYi-m_jSxOfhtdva9VGJ6AyoQXheCr1KcazYlkT_e0cgPt1d7vfdJV-SXFMYUAryblZVAwaMDTKaixL4SdKjMqcpQAGnXV8UNM0YZOfJRQhrgExAJnvJboqqSWd2g-QF_RcZ242NqMkIUXsVkbx7Z2xj20-iWk2qNqLfukZF61pinO-AFpUnExe7YbJrolU_NpCJWq66TSDzsGdf59OHDzJzrtmquAqXyZlRTcCrY-0n89HjbPicjt-equH9OF0yRmNacK2ZAFACCkFNyRd8gVJzmpd6CWCYEUrzQlPJjRY5UxoNMCVpqRlwIbN-cnu4u_Xue4ch1mu38233smaC8izngtMuBYfU0rsQPJp66-1G-d-aQr2XW3dy673c-ii3Q24OiEXE_7jkUkKZZ38hMnWB</recordid><startdate>20221101</startdate><enddate>20221101</enddate><creator>Erwinski, Krystian</creator><creator>Wawrzak, Andrzej</creator><creator>Paprocki, Marcin</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0003-2161-6288</orcidid><orcidid>https://orcid.org/0000-0001-6899-1785</orcidid><orcidid>https://orcid.org/0000-0003-2687-1181</orcidid></search><sort><creationdate>20221101</creationdate><title>Real-Time Jerk Limited Feedrate Profiling and Interpolation for Linear Motor Multiaxis Machines Using NURBS Toolpaths</title><author>Erwinski, Krystian ; Wawrzak, Andrzej ; Paprocki, Marcin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c221t-56dd2700a70571f86b6be9d6148dc00f2f7ad65d196fd742adef02a918d206793</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Algorithms</topic><topic>Computerized numerically controlled (CNC)</topic><topic>Computing time</topic><topic>Controllers</topic><topic>Electric motors</topic><topic>feedrate profile</topic><topic>Heuristic algorithms</topic><topic>Informatics</topic><topic>Interpolation</topic><topic>linear motor</topic><topic>linux RTAI</topic><topic>linuxCNC</topic><topic>Multiaxis</topic><topic>NURBS</topic><topic>Personal computers</topic><topic>Real time operation</topic><topic>real-time</topic><topic>Real-time systems</topic><topic>s-curve</topic><topic>Splines (mathematics)</topic><topic>Surface reconstruction</topic><topic>Surface topography</topic><topic>Taylor series</topic><toplevel>online_resources</toplevel><creatorcontrib>Erwinski, Krystian</creatorcontrib><creatorcontrib>Wawrzak, Andrzej</creatorcontrib><creatorcontrib>Paprocki, Marcin</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005–Present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998–Present</collection><collection>IEEE Xplore</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>IEEE transactions on industrial informatics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Erwinski, Krystian</au><au>Wawrzak, Andrzej</au><au>Paprocki, Marcin</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Real-Time Jerk Limited Feedrate Profiling and Interpolation for Linear Motor Multiaxis Machines Using NURBS Toolpaths</atitle><jtitle>IEEE transactions on industrial informatics</jtitle><stitle>TII</stitle><date>2022-11-01</date><risdate>2022</risdate><volume>18</volume><issue>11</issue><spage>7560</spage><epage>7571</epage><pages>7560-7571</pages><issn>1551-3203</issn><eissn>1941-0050</eissn><coden>ITIICH</coden><abstract>In this article, a NURBS toolpath feedrate profile generation algorithm for a biaxial linear motor control system is presented. High achievable velocities and accelerations of linear motor machines present new computational challenges in implementing feedrate generation and toolpath interpolation algorithms in real-time controllers. The proposed algorithm is capable of online generation of the feedrate profile with axial acceleration and jerk constraints. Each stage of the feedrate profiling algorithm is described with attention being given to both performance and implementation aspects. Furthermore, an alternative to the commonly used Taylor series interpolation method is also tested to ensure minimal interpolation errors. The feedrate profiling and interpolation algorithms' implementation in a PC-based controller with real-time Linux kernel is described. 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| subjects | Algorithms Computerized numerically controlled (CNC) Computing time Controllers Electric motors feedrate profile Heuristic algorithms Informatics Interpolation linear motor linux RTAI linuxCNC Multiaxis NURBS Personal computers Real time operation real-time Real-time systems s-curve Splines (mathematics) Surface reconstruction Surface topography Taylor series |
| title | Real-Time Jerk Limited Feedrate Profiling and Interpolation for Linear Motor Multiaxis Machines Using NURBS Toolpaths |
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