Development of real-time look-ahead algorithm for NURBS interpolator with consideration of servo dynamics

@article{Lin2007DevelopmentOR,
  title={Development of real-time look-ahead algorithm for NURBS interpolator with consideration of servo dynamics},
  author={Ming-Tzong Lin and Meng-Shiun Tsai and Hong-Tzong Yau},
  journal={2007 46th IEEE Conference on Decision and Control},
  year={2007},
  pages={1862-1867}
}
In this paper, a real-time dynamics-based look-ahead (DBLA) algorithm for NURBS interpolator is proposed to generate a jerk-limited acceleration/deceleration (ACC/DEC) feedrate profile. The interpolator consists of three modules. The geometric module detects the local maximum/minimum (max/min) curvatures, and divides a NURBS curve into small segments. The dynamics module estimates contour errors at the sharp corners and adjusts the feedrates at the sharp corners. The jerk-limited module plans… CONTINUE READING
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