Abstract
During trajectory planning, position, velocity and acceleration should satisfy the boundary condition simultaneously, if the interpolation cycle was directly used to discrete velocity, precision loss will occur. In order to solve these problems, a novel double acceleration control algorithm in the deceleration phase is presented and used to deal with linear acc/dec control, based on which a moving-average acc/dec control algorithm is studied, this algorithm can not only meet requirement for velocity and acceleration smooth control, but also realize NC instruction interpretation with high-order differentiability. The simulation results demonstrate that the proposed algorithm is reasonable.
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