Software acceleration/deceleration methods for industrial robots and CNC machine tools

Abstract

We propose software acceleration/deceleration algorithms which provide high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in the case of circular interpolation. The analysis shows that the path error arises from both acceleration/deceleration algorithm and servo control system. The experimental results demonstrate that the proposed algorithms generate the desired velocity commands which enable industrial robots or CNC machine tools to move smoothly at start and stop points. The experimental result of the path error also agrees with the mathematical analysis.