摘要
分析了3阶轨迹轮廓可能存在的各种情形,在总结各种轨迹情形图形特征的基础上,建立了用来预判别以上情况的3个基准:速度-加速度准则、距离-加速度准则和距离-速度准则.依据该基准与给定系统约束,提出了一种轨迹全过程的快速预处理方法,实现了点对点运动时间优化;结合轨迹轮廓图形的对称性与面积求积分法,给出了一种简单的公式推导方法.在此基础上,给出了3阶轨迹规划的精确算法及其实现流程.实例证明了该算法的快速性、有效性、可靠性及灵活性.该算法已成功应用于超精密半导体加工装备的研发中.
All available instances for third-order profile planning firstly were analyzed.To identify that,three criteria were presented relying on profile characteristics.Hereafter a fast preprocessing approach considering the profile as a whole was given based on three criteria above and system constraints.And also time-optimality of the profile was obtained.The relevant formulas were easily derived with combination geometrical symmetry of profile and area method.As a result,accurate algorithm and its implementation...
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2007年第12期58-61,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(50245011)
国家重点基础研究发展计划资助项目(2003CB716206)
关键词
轨迹规划
点对点运动
约束基准
快速预处理
profile planning
point-to-point motion
limitation criteria
fast preprocess
