Velocity Connection Algorithm of Arbitrary Multi-Axis Linkage

Abstract:

In this paper, a velocity connection algorithm of arbitrary multi-axis linkage is presented with regard to the problem of velocity connection efficiency of multiple straight-line paths in the motion control system. For this algorithm, with the velocity, acceleration and displacement of the current segment and the previous segment as constraint conditions, the acceleration is not set as a constant but the intersegmental velocity variable is set independently. The initial velocity and final velocity of each segment is solved on this basis, improving the movement efficiency and simplifying the calculation. Therefore, this algorithm is particularly suitable for the high-speed movement mechanism driven by a stepper motor. As for the actual motion track of the rapid prototyping machine, a comparison was made between this algorithm and the traditional velocity connection algorithm to verify the effectiveness of this algorithm.

• Periodical: Advanced Engineering Forum (Volume 24)
• Pages: 12-23
• DOI: https://doi.org/10.4028/www.scientific.net/AEF.24.12
• Online since: October 2017
• Authors: Fa Li Wang*, Feng Ming Zhang, Lin Ge, Hui Ma
• Keywords: Feedrate Look-Ahead Algorithm, Multi-Axis Motion Control, Numerical Control System

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DOI: 10.3901/jme.2009.06.073