naa a22 4500 51082272X CHVBK 20180411083541.0 cr unu---uuuuu 180411e20130701xx s 000 0 eng 10.1007/s12541-013-0155-2 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0155-2 Cubic spline trajectory generation with axis jerk and tracking error constraints [Elektronische Daten] [Ke Zhang, Jian-Xin Guo, Xiao-Shan Gao] This paper presents a cubic spline trajectory generation algorithm that produces continuous position, velocity, and acceleration profiles for CNC machines with confined axis jerk and tracking error. A series of reference knots are connected using cubic spline functions in time t for constructing axis trajectories. They are generated in such a way that continuity up to the second derivative is preserved along the overall composite curve. For CNC machines governed by a typical PID controller, the tracking error is also constrained as well as the velocity, acceleration, and jerk for each axis. The time intervals between each pair of adjacent knots are scheduled such that the machining time is minimized subject to all the constraints. Experiment results are presented to illustrate the application of the algorithm. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Confined jerk nationallicence Cubic spline nationallicence Minimum time nationallicence PID controller nationallicence Tracking error nationallicence Zhang Ke Key Laboratory of Mathematics Mechanization, Institute of Systems Science, Chinese Academy of Sciences, 100190, Beijing, China aut Guo Jian-Xin Key Laboratory of Mathematics Mechanization, Institute of Systems Science, Chinese Academy of Sciences, 100190, Beijing, China aut Gao Xiao-Shan Key Laboratory of Mathematics Mechanization, Institute of Systems Science, Chinese Academy of Sciences, 100190, Beijing, China aut International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/7(2013-07-01), 1141-1146 2234-7593 14:7<1141 2013 14 12541 https://doi.org/10.1007/s12541-013-0155-2 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0155-2 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Zhang Ke Key Laboratory of Mathematics Mechanization, Institute of Systems Science, Chinese Academy of Sciences, 100190, Beijing, China aut NATIONALLICENCE 700 1- Guo Jian-Xin Key Laboratory of Mathematics Mechanization, Institute of Systems Science, Chinese Academy of Sciences, 100190, Beijing, China aut NATIONALLICENCE 700 1- Gao Xiao-Shan Key Laboratory of Mathematics Mechanization, Institute of Systems Science, Chinese Academy of Sciences, 100190, Beijing, China aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/7(2013-07-01), 1141-1146 2234-7593 14:7<1141 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer