NURBS curve adaptive five-segment acceleration and deceleration control algorithm

Abstract

When interpolating high-speed and high-precision non-uniform B-spline curves (NURBS), the use of traditional S-curve acceleration and deceleration algorithms results in unsmooth acceleration and longer planning time. At the same time, when the relevant parameters are limited, a lot of experimental calculations are needed to make the speed planning algorithm meet the requirements. Aim at this problem, an adaptive five-segment acceleration and deceleration control algorithm is proposed. The algorithm constructs a acceleration and deceleration model based on polynomial, while simplifying the acceleration and deceleration control algorithm, the number of acceleration mutations is reduced. Select the control scheme according to the curve-related parameters, adjust the maximum speed, acceleration, and jerk in real time to realize the flexible acceleration and deceleration control of the system.