High-Precision Positioning and Speed Smooth Transition Control Algorithm for Terminal Point of Micro-Line Segment

Abstract

In allusion to the problem of data sampling interpolation error which exists in continuous micro-line segments interpolation algorithm with acceleration /deceleration control, this paper proposes a high-precision positioning and speed smooth transition control algorithm for terminal point of micro-line segment. The linear acceleration/deceleration mode was taken as an example to derive a motion control algorithm, which can eliminate the rounding error of the interpolation with fine adjusting the reserved parameters of acceleration /deceleration process when micro-line segment starting point and terminal point velocity are not zero. Simulation analysis and experiments of motion control shows that the algorithm greatly improves the control accuracy of the joint point position of micro-line segments, achieves the continuous smooth transition at the feed speed of the joint point of adjacent line segments and the uniformity of the velocity in specific line segment.