18491107. MACHINE TOOL RAPID MOTION PLANNING (FANUC CORPORATION)
MACHINE TOOL RAPID MOTION PLANNING
Organization Name
Inventor(s)
Hsien-Chung Lin of Fremont CA US
Tetsuaki Kato of Fremont CA US
MACHINE TOOL RAPID MOTION PLANNING
This abstract first appeared for US patent application 18491107 titled 'MACHINE TOOL RAPID MOTION PLANNING
Original Abstract Submitted
A method for machine tool motion control which determines a time-optimal trajectory for a multi-segment tool path motion. Start and end waypoints for each segment of the overall motion are defined, along with other conditions such as cutting feed speed. An initial motion profile for each segment is computed based on the waypoint geometry and other constraints, and motion states at the waypoints which join the segments are optimized to provide the shortest total trajectory time. The optimized waypoint states include velocities and accelerations with non-zero values. An extra waypoint may be added to the trajectory, such as for collision avoidance, and the waypoint states are again optimized for minimum total time of the complete trajectory. Heuristic and gradient descent techniques are applied for computation of the optimum waypoint state values.