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A novel approach for NURBS interpolation through the integration of acc-jerk-continuous-based control method and look-ahead algorithm

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2017年第1-4期88卷 961-969页

作者： Liu Xinhua Peng Junquan Si Lei Wang Zhongbin China Univ Min & Technol Sch Mech & Elect Engn Xuzhou Peoples R China China Univ Min & Technol Sch Informat & Elect Engn Xuzhou Peoples R China

In order to reduce high chord errors and improve poor flexibility of interpolation, a novel approach for non-uniform rational B-spline (NURBS) interpolation through the integration of an acc-jerk-continuous-based control method and look-ahead algorithm is proposed. At first, the principles of NURBS curve interpolation and implementation are described. Then, modules of the proposed algorithm, including the feed rate planning and acc-jerk-continuous modules, are established. In the feed rate planning module, sharp corners are detected and the curve is split into some NURBS blocks according to sharp corners. The knot parameter and restrict feed rate at the sharp corners are obtained as well as the length of each block is calculated. In the acc-jerk-continuous control module, information including the knot parameter, arc length, and start and end feed rates are handled to plan an acc-jerk-continuous trajectory. Finally, simulation with one free-form NURBS curve is conducted and comparison with the S-shaped scheduling algorithm is carried out to verify the feasibility and applicability of the proposed algorithm.

关键词： NURBS interpolation acc-jerk-continuous-based control method Look-ahead algorithm

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