Manipulator Trajectory Control Combined with Moving Average Filtering Algorithm

To solve the problem of abnormal angular velocity and angular acceleration in manipulator trajectory motion controlled by quintic spline interpolation algorithm, a manipulator trajectory control algorithm combined with moving average filtering algorithm was proposed. Based on the quintic spline interpolation algorithm, the moving average filtering algorithm was used to clean the abnormal data under the quintic spline interpolation. And the recursive forward dynamics model based on joint space motion was used to design the trajectory motion control of the manipulator. The simulation results show that the manipulator trajectory control algorithm combined with the moving average filtering algorithm has strong constraint ability of diagonal velocity and angular acceleration, and 67% of the maximum velocity and maximum acceleration of the joint axis of the designed manipulator trajectory are significantly reduced, and the curve is smoother.

Application of Workpiece Image Enlarge and Shape Control with Quintic Spline Interpolation

The workpiece processing is sometimes necessary to obtain details of the magnified image. Especially in the CAD, CAM and CNC applications in the field. This article constructs a rational quintic spline interpolation, and interpolation used in the image to enlarge, by the five local parameter interpolation function has the shape control performance, making the image zoom in or out of, according to the need for control. Experimental results show that the interpolation functions of the five constructed in effect in the workpiece, surface shape control.

Quintic Spline Interpolation With Minimal Feed Fluctuation

This paper presents a parameterization and an interpolation method for quintic splines, which result in a smooth and consistent feedrate profile. The discrepancy between the spline parameter and the actual arc length leads to undesirable feed fluctuations and discontinuity, which elicit themselves as high frequency acceleration and jerk harmonics, causing unwanted structural vibrations and excessive tracking error. Two different approaches are presented that alleviate this problem: The first approach is based on modifying the spline toolpath so that it is optimally parameterized with respect to its arc length. The second approach is based on scheduling the spline parameter to accurately yield the desired arc displacement (i.e. feedrate), either by approximation of the relationship between the arc length and the spline parameter with a feed correction polynomial, or by solving the spline parameter iteratively in real-time at each interpolation step. The two approaches are compared to nearly arc length parameterized C3 quintic spline interpolation in terms of feedrate consistency and experimental tracking accuracy.

Open Architecture Controllers for Machine Tools, Part 1: Design Principles

In Part 1 of this two-part paper, we review the development of open architecture controllers for machine tools. General design principles are described, followed by specific hardware and, software recommendations. These specific recommendations are then used for the construction of an open architecture device, MOSAIC-PM, (Machine tool Open System Advanced Intelligent Controller for Precision Machining). The machine has now been used in a wide variety of experiments to demonstrate open architecture control. These experiments include sensor based machining, rapid prototyping and manufacturing over the Internet. In Part 1, a specific application on feature based precision machining with on-machine acceptance is described. A more specific implementation of a quintic spline interpolation method is described in Part 2.