Robotic machine tool technology
In the field of robotics and industry, trajectory planning is always one of the most important issue. Recently, as increasing demand of complicated contour input raises, some works have achieved generating complex trajectory by dividing path into several small linear or circular segments (micro-line) and using spline, such as cubic, quantic, or non-uniform rational B-Splines (NURBS).
In this reason, the high level but expensive controller may be popular on this kind application to implement the difficult interpolation issue. Therefore, to solve this problem economically and practically, this paper presents an algorithm to generate a smooth and efficient high order trajectory composed of piecewise small segments under certain constrains, e.g. maximum acceleration and limited feedrate. Attribute to the algorithm, the end-effector of a 6-DOF Hybrid CNC-Robot can move on the path comprised of linear or circular segments, while this is extremely complex when the demand path is high order trajectory and the stuff use the general controller which can’t accept the high-level curve, such as NURBS. Note that the solution in this paper does not use the NURBS method, and the moving feedrate still won’t drop too much due to the piecewise segments effect. In future Application the machine tool with multi axes can do the more complex cutting surface, compare to the traditional machine tool, the multi axis machine tool can work on the complex cutting surface faster and precisely, even some job can be done by the multi axes machine tool only. To use the multi axes machine tool to cutting the complex surface will be more and more popular.