A HEURISTIC PATH-PLANNING METHOD FOR ENHANCING MACHINE-TOOL CONTOUR-FOLLOWING

Nomenclature ki integral action coefficient[s-1]kp speed proportional gain[s-1]kv position proportional gain[s-1]kf feed forward factor of the speed loop[%]M axis mass[kg]V speed[m/s]F driving effort[N]Rc radius of curvature[m]d distance to the apex[m]o lateral offset[m]εcontouring error[m]ωm lowest mechanical resonant frequency[s-1]ζdamping coefficient[-]r inertia ratio[-]μmembership function[-]αcorner angle[rad]x,y horizontal and vertical coordinates[m]?angle to the normal line[rad]1.I…

A heuristic path-planning method for enhancing machine-tool contour-following

The machine-tools performances within the framework of high-speed machining both depend on the design of the reference trajectory and on the tuning of the servo controllers. The reduction of the contouring error can be achieved by adapting the feedrate to the path profile. An alternative method consists of smoothing the spatial trajectory that allows to decrease the cycle time. A path smoothing technique is provided, which uses an analogy with racing-car piloting. The trajectory is modified pointwise according to a set of rules and is designed using fuzzy control.