Input shaping-based corner rounding algorithm for machining short line segments
- 76 Downloads
The smoothness and continuity of the tool path are crucial in high-quality machining. However, many tool paths are described using only line segments (G01), which inevitably cause discontinuities between blocks. Such discontinuity leads to vibration and feed rate fluctuation, which ultimately leads to a poor surface finish. This study proposes a novel input shaping-based corner rounding algorithm that ensure machining accuracy and vibration suppression. Input shaping is a model-based, robust vibration suppression solution, and it has been widely used in many applications. However, input shaping also distorts the original trajectory, which limits its usage in multiaxis systems. To ensure position accuracy, the corner rounding algorithm proposed in this study includes the position deviation regulation module and the distortion compensation module. The position deviation regulation module limits the position deviation due to corner rounding within the threshold while the distortion compensation scheme compensates for the distortion due to input shaping. The proposed algorithm has been verified via simulations and experiments using a two-degrees of freedom (DOF) Cartesian machine.
KeywordsInput shaping Corner rounding Vibration reduction Trajectory generation
Unable to display preview. Download preview PDF.
This research was supported by Korea Electrotechnology Research Institute (KERI) Primary research program through the National Research Council of Science & Technology (NST) funded by the Ministry of Science, ICT and Future Planning (MSIP) (No. 17-12-N0101-22).
- 6.Bi Q, Yuhan W, Zhu L, Ding H (2011) A practical continuous-curvature Bezier transition algorithm for high speed machining of linear tool path. The paper presented at the Proceedings of the 4th International Conference on Intelligent Robotics and Applications, Aachen, Germany, Dec, 6–8Google Scholar
- 18.Kamel A, Lange F, Hirzinger G (2008) New aspects of input shaping control to damp oscillations of a compliant force sensor. Paper presented at the Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, May, 19–23Google Scholar
- 19.Malzahn J, Ruderman M, Phung A S, Hoffmann F, Bertram T (2010) Input shaping and strain gauge feedback vibration control of an elastic robotic arm. The paper presented at the Conference on Control and Fault Tolerant Systems, Nice, Oct, 6–8Google Scholar
- 26.Altintas Y, (2012) Manufacturing automation: metal cutting mechanics, machine tool vibrations and CNC design. Cambridge University Press, New YorkGoogle Scholar
- 27.Han G-C, Kim D-I, Kim H-G, Nam K, Choi B-K, Kim S-K (1999) A high speed machining algorithm for CNC machine tools. The paper presented at the Proceedings of IEEE the 25th Annual Conference of the Industrial Electronics Society, San Jose, CA, USA, Nov, 29-Dec, 3Google Scholar
- 28.Shiller Z, Lu H-H (1999) Robust computation of path constrained time optimal motions. The paper presented at the Proceedings of IEEE International Conference on Robotics and Automation, Cincinnati, May, 13–18Google Scholar
- 29.Madisetti V (2009) The digital signal processing handbook. CRS Press, Boca RatonGoogle Scholar