The NURBS book
System identification (2nd ed.): theory for the user
System identification (2nd ed.): theory for the user
Real-time NURBS interpolation using FPGA for high speed motion control
Computer-Aided Design
Online speed profile generation for industrial machine tool based on neuro-fuzzy approach
ICAISC'10 Proceedings of the 10th international conference on Artifical intelligence and soft computing: Part II
The feedrate scheduling of NURBS interpolator for CNC machine tools
Computer-Aided Design
Design of a FPGA-Based NURBS interpolator
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Robotics and Computer-Integrated Manufacturing
Computers and Industrial Engineering
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Methodologies for planning motion trajectory of parametric interpolation such as non-uniform rational B-spline (NURBS) curves have been proposed in the past. However, most of the algorithms were developed based on the constraints of feedrate, acceleration/deceleration (acc/dec), jerk, and chord errors. The errors caused by servo dynamics were rarely included in the design process. This paper proposes an integrated look-ahead dynamics-based (ILD) algorithm which considers geometric and servo errors simultaneously. The ILD consists of three different modules: a sharp corner detection module, a jerk-limited module, and a dynamics module. The sharp corner detection module identifies sharp corners of a curve and then divides the curve into small segments. The jerk-limited module plans the feedrate profile of each segment according to the constraints of feedrate, acc/dec, jerk, and chord errors. To ensure that the contour errors are bounded within the specified value, the dynamics module further modifies the feedrate profile based on the derived contour error equation. Simulations and experiments are performed to validate the ILD algorithm. It is shown that the ILD approach improves tracking and contour accuracies significantly compared to adaptive-feedrate and curvature-feedrate algorithms.