Sequential quadratic programming for large-scale nonlinear optimization
Journal of Computational and Applied Mathematics - Special issue on numerical analysis 2000 Vol. IV: optimization and nonlinear equations
Real-time NURBS interpolation using FPGA for high speed motion control
Computer-Aided Design
Automatic Control Systems
The feedrate scheduling of NURBS interpolator for CNC machine tools
Computer-Aided Design
A greedy algorithm for feedrate planning of CNC machines along curved tool paths with confined jerk
Robotics and Computer-Integrated Manufacturing
Iterative Learning Control: Brief Survey and Categorization
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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In this paper, the time-optimal feedrate planning problem under confined feedrate, axis velocity, axis acceleration, axis jerk, and axis tracking error for a high-order CNC servo system is studied. The problem is useful in that the full ability of the CNC machine is used to enhance the machining productivity while keeping the machining precision under a given level. However, the problem is computationally challenging. The main contribution of this paper is to approximate the problem nicely by a finite-state convex optimization problem which can be solved efficiently. The method consists of two key ingredients. First, a relationship between the tracking error and the input signal in a high-order CNC servo system is established. As a consequence, the tracking error constraint is reduced to a constraint on the kinematic quantities. Second, a novel method is introduced to relax the nonlinear constraints on kinematic quantities to linear ones. Experimental results are used to validate the proposed method.